LOS-Based Waypoint Tracking Control for Small Unmanned Surface Vehicles
Abstract
paper develops a lightweight navigation and control system. An STM32F407 microcontroller is used as the core processor, and GPS/IMU
measurements are fused to provide real-time position and attitude states. An LOS guidance law generates the desired heading, while an incremental PID controller drives a dual-thruster differential thrust scheme to enhance disturbance rejection and trajectory convergence. Field tests
in a natural water environment show small cross-track errors along route segments and smooth waypoint transitions without obvious overshoot, demonstrating strong robustness and fast heading correction.
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DOI: http://dx.doi.org/10.70711/aitr.v3i7.8876
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