Pursuit–Evasion Problem of Unmanned Surface Vehicles in a Complex Marine Environment

In order to solve the interception problem of escaping targets under environmental interference and inaccurate target perception, this paper introduces the guidance interception algorithm and introduces a Kalman filter to predict the trajectory of escaping targets. In order to make a USV pursuit under a disturbance in a time-varying real marine environment, a disturbance observer is proposed to estimate the external disturbance and model uncertainty. The simulation of pursuit–evasion results shows that the interception algorithm designed enables the pursuer to intercept the escaping target in a time-varying, disturbed marine environment. Both the simulation and experimental results are provided to validate the effectiveness of the method