Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field

Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field

This paper proposes a formation generation algorithm and formation obstacle avoidance strategy for multiple unmanned surface vehicles (USVs). The proposed formation generation algorithm implements an approach combining a virtual structure and artificial potential field (VSAPF), which provides a high...

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Bibliographic Details
Main Authors: Xun Yan, Dapeng Jiang, Runlong Miao, Yulong Li
Format: Article
Language:English
Published: MDPI AG 2021-02-01
Series:Journal of Marine Science and Engineering
Subjects:
formation control
obstacle avoidance
dynamic window approach
multi-USV system
Online Access:https://www.mdpi.com/2077-1312/9/2/161

Internet

https://www.mdpi.com/2077-1312/9/2/161

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