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A Comparison Between the ILOS Guidance and the Vector Field Guidance

机译：ILOS制导与矢量场制导的比较

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This paper presents a quantitative comparison between two popular guidance laws for straight line path-following purposes of autonomous marine vehicles: the integral line-of-sight (ILOS) guidance law and the vector field (VF) guidance law. The comparison is based on experimental results and the cross track error measurements as well as the servo command signals are considered in the analysis. Both the guidance schemes are applied to the underactuated LAUV vehicle in the same environmental conditions with the same speed and heading controllers. The comparison separates between transient and steady-state behaviour, with focus on the latter. In particular, the cross-track error transfer functions for small time varying disturbances are derived for the two guidance schemes at equilibrium and similarities are found with the experimental results. The analysis concludes good path following performance for both the VF and the ILOS guidance laws, with the VF controller performing slightly better. However, the VF guidance scheme suffers from significant chattering on the horizontal rudders while the ILOS guidance law gives very smooth servo commands.
机译：本文介绍了两种用于自动驾驶航海车辆直线路径的通用制导律：积分视线制导律和矢量场制导律。比较是基于实验结果，分析中考虑了跨轨误差测量以及伺服命令信号。这两种指导方案都适用于在相同环境条件下使用相同速度和航向控制器的欠驱动LAUV车辆。比较将瞬态和稳态行为分开，重点放在后者。特别是，针对两种制导方案在平衡时导出了小时变扰动的跨轨误差传递函数，并与实验结果相似。分析得出VF和ILOS指导律均具有良好的路径跟随性能，而VF控制器的性能稍好。但是，VF制导方案在水平方向舵上有很大的抖动，而ILOS制导律给出了非常平滑的伺服命令。

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