A dynamic window model prediction artificial potential field method for reducing tracking errors of underactuated aerodynamic planing craft

In order to improve the trajectory tracking accuracy of an underactuated aerodynamic planing craft to reach the point accurately, a DWA-MPAPF algorithm for the craft is developed in this study. The study first optimises the dynamics model of the craft. Then, the study designs an algorithm that specifically considers the characteristics of the craft, and conducts simulation tests under a variety of complex conditions. The simulation results show that the proposed algorithm can effectively control the craft to reach the target point accurately in the complex environment. Finally, the algorithm of this paper is analyzed and compared with some algorithms through the joint simulation platform of MATLAB and Unity3D, and the results show that the proposed algorithm is able to reduce the tracking error and the change of trajectory curvature is relatively smooth in path tracking control,thus confirming its effectiveness in the stability planning and control of aerodynamic planing craft.