针对受时变干扰和动态不确定性影响的无人水面艇避障路径跟踪控制问题，提出一种规划-制导-控制的模块化集成设计框架。在避障方面，采用视觉投影技术结合避障路径优化机制(obstacle-avoidance path optimization mechanism, OAPOM)生成安全且符合机动性要求的路径。在制导方面，为解决欠驱动问题及侧滑角补偿问题，提出一种新的固定时间预估视线(fix-time predictor line-of-sight, FxTPLOS)制导方案，并结合时变侧滑角预估器进行处理。与现有研究相比，创新性地提出了一个三模块设计框架，即基于OAPOM的避障路径与FxTPLOS制导无缝衔接，而制导层则为控制层提供理想的航向和速度信号，从而形成了一个集成的路径规划-制导-控制设计架构。基于Lyapunov理论证明了闭环路径跟踪避障控制系统中的所有信号均一致最终有界。高保真仿真验证了该方案的鲁棒性、路径可行性以及控制方案的实际应用性。

To address the obstacle-avoidance path-following control problem of unmanned surface vehicles subject to time-varying disturbances and dynamic uncertainties, a modular integrated planning-guidance-control framework is proposed. In the planning layer, a visual projection technique combined with an obstacle-avoidance path optimization mechanism (OAPOM) is employed to generate safe paths that satisfy maneuverability requirements. In the guidance layer, to handle the underactuated nature of the USV and compensate for sideslip, a novel fix-time predictor line-of-sight (FxTPLOS) guidance scheme is developed together with a time-varying sideslip predictor. Compared with existing studies, the proposed method establishes a three-module design framework, in which the OAPOM-based obstacle-avoidance path is seamlessly integrated with the FxTPLOS guidance law, while the guidance layer provides desired heading and speed signals for the control layer, thereby forming an integrated path-planning-guidance-control architecture. Based on Lyapunov theory, it is shown that all signals in the closed-loop obstacle-avoidance path-following control system are uniformly ultimately bounded. High-fidelity simulations verify the robustness, path feasibility, and practical applicability of the proposed scheme.