Supported by the National Key R&D Program of China under Grant No.2022ZD0119902;the National Natural Science Foundation of China under Grant No.51979020;the Top-notch Young Talents Program of China under Grant No.36261402;the Dalian High-level Talents Innovation Support Program under Grant No.2022RQ010;the Liaoning Revitalization Talents Program under Grant No.XLYC2007188;the Natural Science Foundation of Fujian Province under Grant No.2022J01131710;the Postdoctoral Research Foundation of China under Grant No.2022M720619;in part by the Fundamental Research Funds for the Central Universities 3132023107.
The collision-free straight-line following of an unmanned surface vehicle(USV)moving in a constrained water region subject to stationary and moving obstacles is addressed in this paper.USV systems are normally subject...