The invention provides an unmanned ship
path tracking control method based on lightweight self-adaptive
sight guidance. The method comprises a self-adaptive
sight guidance
algorithm, a foresight distance is adjusted in real time according to the current position and
path deviation of an unmanned ship, ideal course information is obtained, and the path convergence speed and
algorithm calculation efficiency are improved. And in the virtual
simulation platform, marine environment information is combined, and unmanned ship dynamic
model parameters are obtained through experiments. And constructing an objective function taking the
path tracking error and the
rudder angle change as evaluation indexes, and optimizing
PID controller parameters by adopting an improved
sparrow search algorithm. According to the
algorithm, a dynamic additive updating strategy is introduced, so that the global search capability and the convergence stability are improved, and the optimal PID parameter is ensured to be obtained. The method has the advantages of being high in response speed, small in overshoot and high in
path tracking precision in the complex marine environment, the real-
time control performance and the environment adaptability of the unmanned ship can be remarkably improved, and the method is suitable for the unmanned ship path tracking control requirements in various task scenes.