Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field
Abstract
:1. Introduction
2. Model and Problem Statement
2.1. USV Kinematic Model
2.2. Formation Definition
3. Algorithm Design
3.1. Generation of the Virtual Structure
3.2. Formation Transformation
3.3. Obstacle Avoidance
3.3.1. Artificial Potential Field Method
3.3.2. Dynamic window approach
- (1)
- Search spacex
- (2)
- Optimization
- (3)
- Improved evaluation function
3.4. USV Path Tracking Algorithm
- (1)
- Velocity controller
- (2)
- Heading controller
4. Numerical Simulations
4.1. Path Tracking Controller
4.2. Coordinated Path Tracking of Formation of Three USVs
4.2.1. Line Path Tracking
4.2.2. Curve Path Tracking
4.3. Formation Scalability
4.4. Formation Shape Transformation
4.4.1. Structure Change
4.4.2. Structure Scaling
4.5. Dynamic Window Approach
4.6. Formation Obstacle Avoidance
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Conflicts of Interest
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Yan, X.; Jiang, D.; Miao, R.; Li, Y. Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field. J. Mar. Sci. Eng. 2021, 9, 161. https://doi.org/10.3390/jmse9020161
Yan X, Jiang D, Miao R, Li Y. Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field. Journal of Marine Science and Engineering. 2021; 9(2):161. https://doi.org/10.3390/jmse9020161
Chicago/Turabian StyleYan, Xun, Dapeng Jiang, Runlong Miao, and Yulong Li. 2021. "Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field" Journal of Marine Science and Engineering 9, no. 2: 161. https://doi.org/10.3390/jmse9020161