A Formation Collision Avoidance System for Unmanned Surface Vehicles With Leader-Follower Structure

Abstract

This paper deals with the problem of formation collision avoidance for unmanned surface vehicles (USVs). Compared with the generalship formation, the formation collision avoidance system (FCAS) needs better responsiveness and stability because of faster speed and smaller volume for USVs. A method based on finite control set model predictive control is proposed to solve this problem. The novelty of the method is that it can control formation quickly to avoid obstacles and reach the destination in accordance with the dynamics of each vessel in the formation, without the prior knowledge of the environment and reference trajectory. The thruster speed and propulsion angle of the USV form a finite control set, which is more practical. The FCAS adopts the leader–follower structure and distributed control strategy to ensure that the followers have a certain autonomy. The first two simulation tests verify that the system has the formation stability, formation forming ability, and the applicability in restricted water. The last simulation test shows that the system can control the USV formation to sail quickly and safely in complex sea scenarios with formation transformation task and multiple dynamic obstacles.