Motorized buoy path following based on improved LOS algorithm and Aquila optimizer algorithm

• Published in: International Conference on Industrial Mechatronics and Automation (Online) pp. 376 - 381
• Main Authors: Guan, Fengxu, Yang, Zipeng, Zhang, Xu, Huang, Jiawei
• Format: Conference Proceeding
• Language: English
• Published: IEEE 07.08.2022
• Subjects: Aquila Optimizer; Control for course keeping and path following; Energy loss; LOS algorithm; Model predictive control; Motorized buoy; Predictive models; Process control; Propellers; Solid modeling; Target tracking; Trajectory tracking
• ISSN: 2152-744X
• DOI: 10.1109/ICMA54519.2022.9856219

This paper improves the traditional LOS guidance algorithm and obtains a Los guidance algorithm based on time-varying virtual guidance distance. Through comparative simulation, it is proved that the method is better to solve the guidance angle when designing the path following controller of motorized buoy. On the other hand, in order to reduce the unnecessary energy loss of the motorized buoy, the rudder energy loss of the motorized buoy is taken into account, and a more energy-saving path following controller of the motorized buoy is designed. Aquila optimizer is introduced to complete the solution of the control quantity. Ultimately, through comparative simulation, it is proved that the improved controller can achieve more energy-saving control performance while maintaining superior track control effect.