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Advanced Research in Guidance, Navigation, and Control for Autonomous Surface...
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Advanced Research in Guidance, Navigation, and Control for Autonomous Surface Vehicle

A special issue of Journal of Marine Science and Engineering (ISSN 2077-1312). This special issue belongs to the section "Ocean Engineering".

Deadline for manuscript submissions: 31 July 2025 | Viewed by 1724

Special Issue Editors

Dr. Cheng Liu

E-Mail Website
Guest Editor
College of Navigation, Dalian Maritime University, Dalian 116026, China
Interests: trajectory tracking; path following; collision avoidance; cooperative control; roll stabilization
Dr. Yaqing Shu

E-Mail Website
Guest Editor
School of Navigation, Wuhan University of Technology, Wuhan 430063, China
Interests: ship path planning; collision avoidance; arctic shipping; maritime traffic risk; ship pollution prevention
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Introducing a high level of autonomy to marine applications has become a pertinent topic across the globe. Autonomous surface vehicles (ASVs) are characterized by intelligence and flexibility; furthermore, the application of an ASV can increase efficiency and protect operators from danger. Guidance, navigation, and control are the key technologies for an ASV. This Special Issue seeks cutting-edge research about the guidance, navigation, and control of ASVs to satisfy the increasing need to perform more complex missions. The Special Issue includes, but is not limited to, the following topics:

  • Modeling and simulation technology for ASVs;
  • Advanced perception technology for ASVs;
  • The path planning method for ASVs;
  • The automatic berthing control method for ASVs;
  • The cooperative control method for ASVs;
  • Path following and roll reduction for ASVs;
  • The automatic collision avoidance for ASVs;
  • The guidance method for ASVs;
  • Navigation technology for ASVs.

Dr. Cheng Liu
Dr. Yaqing Shu
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Journal of Marine Science and Engineering is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • autonomous surface vehicle
  • mathematical modeling
  • navigation
  • path planning
  • berthing control
  • path following
  • cooperative control
  • collision avoidance
  • trajectory tracking

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Further information on MDPI's Special Issue policies can be found here.

Published Papers (3 papers)

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20 pages, 6056 KiB  
Article
Inter-Element Phase Error Compensated Calibration Method for USBL Arrays
by Dejinxuan Zhang, Guangpu Zhang, Xu Zhao, Nan Zou, Jin Fu and Yuanxin Bai
J. Mar. Sci. Eng. 2025, 13(5), 877; https://doi.org/10.3390/jmse13050877 (registering DOI) - 28 Apr 2025
Viewed by 54
Abstract
This study addresses the critical limitation of existing Ultra-Short Baseline (USBL) calibration algorithms in handling transducer positional errors and inter-element phase errors. We propose a novel positioning-calibration model based on vector projection theorem. The model achieves two key innovations: it eliminates the influence [...] Read more.
This study addresses the critical limitation of existing Ultra-Short Baseline (USBL) calibration algorithms in handling transducer positional errors and inter-element phase errors. We propose a novel positioning-calibration model based on vector projection theorem. The model achieves two key innovations: it eliminates the influence of inter-element positional errors through its structural design, and, for the first time, incorporates inter-element phase errors from acoustic array measurements as observational parameters to establish joint estimation equations for system installation angle errors and inter-element phase errors. The estimation process is implemented using an unscented Kalman filter (UKF). Simulation results demonstrate that the UKF outperforms the Gauss–Newton method (GNM), achieving estimation errors for installation angles and phase errors within 0.05°. Comparative evaluations confirm the model’s superiority over conventional calibration methods in accurately estimating installation angles under transducer positional errors. Field experiments further validate the algorithm’s effectiveness in real-world marine environments, successfully estimating system installation angle errors and inter-element phase errors to enhance final target positioning accuracy. This approach provides a practical solution to persistent calibration challenges in USBL systems. Full article
(This article belongs to the Special Issue Advanced Research in Guidance, Navigation, and Control for Autonomous Surface Vehicle)
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19 pages, 1464 KiB  
Article
Simplified Model Characterization and Control of an Unmanned Surface Vehicle
by Aldo Lovo-Ayala, Roosvel Soto-Diaz, Carlos Andres Gutierrez-Martinez, Jose Fernando Jimenez-Vargas, Javier Jiménez-Cabas and Jose Escorcía-Gutierrez
J. Mar. Sci. Eng. 2025, 13(4), 813; https://doi.org/10.3390/jmse13040813 - 18 Apr 2025
Viewed by 151
Abstract
This study presents the modeling and control of the unmanned surface vehicle (USV) SABALO. Two models were built, one based on a transfer function matrix and another based on state variables, and from these models, two control strategies were developed. The first strategy [...] Read more.
This study presents the modeling and control of the unmanned surface vehicle (USV) SABALO. Two models were built, one based on a transfer function matrix and another based on state variables, and from these models, two control strategies were developed. The first strategy is based on independent Proportional-Integral/Proportional-Derivative (PI/PD) controllers complemented by a decoupling system, and the second strategy is based on state variable feedback. The two control strategies were evaluated and contrasted. Results demonstrated that the decoupler effectively eliminated variable interaction, enhancing stability in straight trajectories and directional changes. Meanwhile, state feedback control demonstrated markedly faster response times and superior precision, accompanied by higher energy consumption. The study concludes that both strategies are effective, but their suitability depends on the mission. The decoupler could be ideal for energy-efficient, long-duration operations, while state feedback could be appropriate for dynamic environments requiring rapid maneuvers. Full article
(This article belongs to the Special Issue Advanced Research in Guidance, Navigation, and Control for Autonomous Surface Vehicle)
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22 pages, 12220 KiB  
Article
Prescribed-Time Formation Tracking Control for Underactuated USVs with Prescribed Performance
by Bowen Sui, Jianqiang Zhang and Zhong Liu
J. Mar. Sci. Eng. 2025, 13(3), 480; https://doi.org/10.3390/jmse13030480 - 28 Feb 2025
Viewed by 464
Abstract
This article proposes a prescribed-time formation tracking control scheme for USVs with prescribed performance constraints to address the issue of multiple underactuated USV formation tracking control with external environmental disturbances and input saturation. Initially, a prescribed-time extended state observer was constructed, capable of [...] Read more.
This article proposes a prescribed-time formation tracking control scheme for USVs with prescribed performance constraints to address the issue of multiple underactuated USV formation tracking control with external environmental disturbances and input saturation. Initially, a prescribed-time extended state observer was constructed, capable of promptly estimating and compensating for speed and external disturbances within a certain timeframe. Additionally, a unique performance function was developed, enabling the performance function to converge to a predetermined accuracy within a specified time, while allowing for flexible adjustment of the performance constraint shape by parameter modification. Furthermore, a prescribed-time formation control algorithm was developed by combining graph theory and dynamic surface control, enabling the formation error to converge within preset performance constraints at a specified period of T=10 s. It was proved that all signals in the closed-loop system are uniform, ultimately bounded by Lyapunov stability theory and the formation tracking errors display prescribed-time stability. Finally, the efficacy and superiority of the designed control scheme were evaluated by constructing numerical simulations. Full article
(This article belongs to the Special Issue Advanced Research in Guidance, Navigation, and Control for Autonomous Surface Vehicle)
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