Obstacle Avoidance Event-Triggered Formation Control for Multiple Unmanned Surface Vehicles in Polar Region
Ruilin Liu, Wenjun Zhang · 2025
This document studies the problem of obstacle avoidance formation control for multiple unmanned surface vehicles (USVs) in polar regions. A obstacle avoidance guidance scheme based on artificial potential field (APF) is proposed, which can generate a reference path for USVs to meet the collision avoidance requirements. Subsequently, a dynamic event-triggered control (ETC) algorithm is established to track the generated reference trajectory, which can reduce the communication load of control signal transmission. It is proved that the algorithm ensures that the tracking errors can converge to a neighborhood of zero exponentially. Finally, the effectiveness of the algorithm is verified by simulation experiment.