Intelligent motion control of unmanned surface vehicles: A critical review

As one of the emerging tools of ocean operation, unmanned surface vehicles (USVs) have shown great potential in ocean exploration in recent years. Motion control is an important subject in the research of USVs. Intelligent control methods are highly adaptable and flexible and can solve the motion control system problem of USVs well. Therefore, the intelligent motion control methods of USVs have become a research hotspot in recent years. In this context, state-of-the-art intelligent motion control methods for USVs are reviewed. In order to facilitate a comprehensive understanding of the subject matter, we first review basic concepts of target tracking, trajectory tracking, path following, and cooperative formation control of USVs. Next, some challenging problems with intelligent motion control of USVs are highlighted. Then, extending from a single USV to multiple USVs, the existing intelligent motion control methods of USVs are classified, analyzed, and discussed in detail. Finally, future research directions for intelligent motion control of USVs are presented.