  The focus of this paper is to develop a methodology that enables an unmanned
surface vehicle (USV) to efficiently track a planned path. The introduction of
a vector field-based adaptive line of-sight guidance law (VFALOS) for accurate
trajectory tracking and minimizing the overshoot response time during USV
tracking of curved paths improves the overall line-of-sight (LOS) guidance
method. These improvements contribute to faster convergence to the desired
path, reduce oscillations, and can mitigate the effects of persistent external
disturbances. It is shown that the proposed guidance law exhibits k-exponential
stability when converging to the desired path consisting of straight and curved
lines. The results in the paper show that the proposed method effectively
improves the accuracy of the USV tracking the desired path while ensuring the
safety of the USV work.
