Degorre, Loïck (ENSTA, Lab-STICC), Lapierre, Lionel (ENSTA, Lab-STICC), Belier, Titouan (ENSTA, Lab-STICC)

New Formulation and Experimental Validation of the Kinematic Guidance Principle on an Underactuated Uncrewed Surface Vessel

Scheduled for presentation during the Regular Session "Underwater Robots" (FrAT4), Friday, July 18, 2025, 10:40−11:00, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

This work presents a new formulation and experimental validation of the recently introduced Kinematic Guidance Principle on a USV. While the original formulation of the controller was based on an empirical non-diagonal gain matrix, this new interpretation relies only on conventional control engineering techniques. It is shown in this work that the kinematic guidance principle provides a linear decoupled position error system, which is its main advantage compared to other guidance principles. Additionally, this work presents the first experimental results of the controller applied to a USV.