Improved gravitation type LOS path tracking method, program and equipment for weak maneuvering ocean robot and storage medium

The invention belongs to the technical field of ocean robot path tracking, and particularly relates to an improved gravitation type LOS path tracking method, program and device for a weak maneuvering ocean robot and a storage medium. According to the method, gravitation vectors are arranged at several special positions of an expected path and are used for guiding the end point direction of the expected path, reducing transverse tracking errors and overcoming steady-state errors caused by ocean current influences; an expected heading is set as a resultant force direction of several gravitational forces, meanwhile, a transverse error judgment device is set, and different expected heading angle calculation formulas are adopted according to whether overshoot occurs or not, so that an expected path can be accurately tracked, and the path tracking task can be continuously completed by returning to the vicinity of a target path point under large offset. Compared with a traditional LOS guidance strategy, the method h