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Xu Han, Xianku Zhang and Hugan Zhang
Trajectory planning aims to provide a time-related control target that contains the concerned states. For an underactuated surface vehicle (USV), planning challenges include limitations on curvature, speed, acceleration, and jerk. These challenges are re...
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Hugan Zhang, Xianku Zhang and Renxiang Bu
In the process of ship navigation, due to the characteristics of large inertia and large time delay, overshoot can easily occur in the process of path following. Once the ship deviates from the waypoint, it is prone to grounding and collision. Considerin...
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