Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle

Figure 17

The trajectory of USV Alder and alpha in each waypoint: (a) the enlarged picture of waypoint when steering angle is 90°; (b) the enlarged picture of waypoint when steering angle is 135°; (c) the enlarged picture of waypoint when steering angle is 113°; (d) the enlarged picture of waypoint when steering angle is 74°; (e) the enlarged picture of waypoint when steering angle is 106°.

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