Autonomous Berthing of Unmanned Surface Vehicles Based on Improved Dubins-RRT Algorithm and Non-Singular Terminal Sliding Mode Control
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DOI: 10.1109/access.2023.3271717
Abstract: Autonomous berthing is the last step to achieving the autonomous operation of unmanned surface vehicles (USVs). Due to the significant disturbance of wind, waves, and currents and the uncertainties of the model, it is difficult… read more here.
Keywords: dubins rrt; surface vehicles; autonomous berthing; control ... See more keywords