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An excellent navigation, guidance, and control (NGC) system had a high impact on trajectory tracking and the following scenarios. Both scenarios will include the heading, tangent, and velocity parameters in the computation. However, the control system design problem is not a new issue in the unmanned surface vehicle (USV) and autonomous ground vehivle (AGV) due to this constraint faced by many researchers since early these autonomy developments. Hence, this paper listed and emphasizing thedoi:10.11591/eei.v10i4.3086 fatcat:vpdglcbndzdu7dloxvqvatvtte