Improved Surge Speed Adaptive LOS Guidance Law in Current Disturbance Environment for USV

Muhammad Alifuddin Akbar (Institut Teknologi Sepuluh Nopember)
Mochammad Sahal (Institut Teknologi Sepuluh Nopember)
Abdullah Alkaff (Institut Teknologi Sepuluh Nopember)

JAREE (Journal on Advanced Research in Electrical Engineering)
Vol. 1 No. 10 (2026): January

This work proposes a method for calculate the desired surge velocity integrated with an Adaptive Line of Sight, called Improved Surge Speed Adaptive LOS (ISS-ALOS), to enhance the path-following performance of USVs. This method utilizes ALOS guiding law to enable the USV to maintain the desired path regardless of disturbances. The proposed ISS-ALOS uses the path's curvature, cross-track error, and cross-track error rate to calculate the desired surge velocity. The method is applied to USV following a curved path with several bends and a rectangle path with sharp turns, to demonstrate with high reliability that the proposed method can direct the USV along the specified path with minimum cross-track error. Comparison with the latest guidance law available in publication is also presented to show the superiority of the proposed method.