Cluster containment control algorithm for unmanned surface vehicle with internal collision avoidance function based on potential energy function
Xutan Lu, Yanxuan Wu, Zhengiie Wang, Haozhe Cao · 2020 3rd International Conference on Unmanned Systems (ICUS) · 2020
Aiming at the problem of multi-unmanned surface vehicle(USV) cluster motion control, based on the consistency theory, the design of the containment control algorithm is combined with the method of potential energy function to increase the internal collision avoidance function of the cluster to realize the multi-USV collision avoidance containment control. This article mentions a communication system architecture used in multi-USV cluster detection applications, and thus analyzes the advantages of the leader-follower cluster structure. Under this structure, through the idea of consistency control and potential energy function, the algorithm design is completed, and the simulation results verify the control effectiveness of the designed algorithm under the non-global communication structure.