USV iterative learning path tracking control method based on virtual potential field guidance

The invention discloses a USV iterative learning path tracking control method based on virtual potential field guidance. The method comprises the following steps: establishing a nonlinear mathematical model of a USV; obtaining a gravitational force model of the virtual potential field and a repulsive force model of the virtual potential field; acquiring a guidance model of the USV; obtaining a kinematics controller of the USV system; and a dynamic controller of the USV system is obtained, and the USV system is controlled. According to the USV iterative learning path tracking control method based on virtual potential field guidance, the gravitation model of the virtual potential field and the repulsive force model of the virtual potential field of the USV model are established, and an obstacle avoidance mechanism capable of considering the shape of an obstacle is added in a guidance algorithm; the problem that most of existing self-adaptive control obstacle avoidance algorithms take obstacles as mass points is