Aiming at the underwater path tracking control problem of bionic robot dolphin

a line-of-sight(LOS)navigation path tracking algorithm based on variable forward distance is studied.The algorithm uses variable forward distance instead of the fixed forward distance of the traditional LOS navigation algorithm

and innovatively designs an arctangent function that uses the current state of the carrier and the desired path state to calculate and correct the forward distance in real-time

allowing the bionic robot dolphin to effectively overcome the overshoot and delayed convergence problems of the traditional LOS navigation algorithm

combined with the underwater motion energy consumption characteristics of the bionic robot dolphin

effectively reduce motion energy consumption.Finally

through simulation and physical experiments

the feasibility

accuracy

intelligence and superiority of the algorithm are verified.