Navigation and motion control techniques for surface unmanned vehicle and autonomous ground vehicle: a review

Putri Nur Farhanah Mohd Shamsuddin, Roshahliza M. Ramli, Muhamad Arifpin Mansor


An excellent Navigation, Guidance, and Control (NGC) system had a high impact on trajectory tracking and the following scenarios Both of these scenarios will include the heading, tangent, and velocity parameters in the computation.  However, the control system design problem is not a new issue in the USV and AGV due to this constraint faced by many researchers since early these autonomy developments. The researchers were upgrading several techniques to enhance the motion control system. Hence, this paper listed and emphasizing the techniques, including techniques implementation, strength, and the algorithm's constraints, a fusion of several techniques implemented for vehicle's stability, a turning ahead, and heading estimation. This paper concerns the similar algorithm used in the USV and AGV. Based on the review, more than fifty research papers have implemented the same motion control technique in USV and AGV. Most of the selected techniques are basic algorithms and have been frequently implemented to control both vehicles' systems. Previous research shows that Pure Pursuit guidance is the most popular technique in AGV to control the degree-of-Freedom (DOF) velocity and the dynamic rate (sway, surge, and yaw). Simultaneously, the line of sight (LOS) controller is very compatible with controlling the movement of the USV. Lyapunov-based guidance, predictive planning, and motion goal prediction are implemented in the computation control system to enhance the stability and increase the robustness of the USV and AGV in the jumbled condition such as high traffic on the track.  In conclusion, the technique's simulation test needs further research that will expose in the actual situation.


Autonomous ground vehicle; Motion control technique; Path following; Trajectory tracking; Unmanned surface vehicle



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