Abstract

Using multiple unmanned surface vehicle swarms to implement tasks cooperatively is the most advanced technology in recent years. However, how to find which swarm the unmanned surface vehicle belongs to is a meaningful job. So, this article proposed an artificial potential field-based swarm finding algorithm, which applies the potential field force directly to unmanned surface vehicles and leads them to their belonging swarm quickly and accurately. Meanwhile, the proposed algorithm can also maintain the formation stable while following the desired path. Based on the swarm finding algorithm, the artificial potential field-based collision avoidance method and the International Regulations for Preventing Collisions at Sea-based dynamic collision avoidance strategy are applied to the swarm control of multi-unmanned surface vehicles to enhance the performance in the dynamic ocean environment. Methods in this article are verified through numerical simulations to illustrate the feasibility and effectiveness of proposed schemes.

Highlights

  • Benefiting from the improvement of the intelligent control, networks and sensors, the unmanned aerial vehicle, the unmanned surface vehicle (USV), and the unmanned underwater vehicle have become the most advanced technologies

  • In the work of Tan et al.,[32] the USV swarms (USVSs) is constructed by the proposed gathering strategy, whereas in this article, an artificial potential field (APF)-based swarm finding method is utilized to the swarm control of multi-USVs

  • Under the effect of the swarm finding algorithm, four USVs are attracted to their belonging swarm from the start point and sail along the desired path toward the target; in this process, two moving obstacle ships and three static obstacles are set to verify the safety of the USVS

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Summary

Introduction

Benefiting from the improvement of the intelligent control, networks and sensors, the unmanned aerial vehicle, the unmanned surface vehicle (USV), and the unmanned underwater vehicle have become the most advanced technologies. The third method, namely, the leader–follower method, is used in USVs and in the formation control of mobile robots[17,18,19] and autonomous underwater vehicles.[20,21,22,23] The leader sails along a predefined route and followers maintain prescribed distance and orientation with respect to the leader. The swarm finding algorithm is utilized according to the function of the desired CPS to attract each free-USV to its swarm. In the work of Tan et al.,[32] the USVS is constructed by the proposed gathering strategy, whereas in this article, an APF-based swarm finding method is utilized to the swarm control of multi-USVs. In the work of Tan et al.,[32] the USVS is built by making the error ex between two position vectors Xd and Xs converge to 0, the desired speeds and headings are obtained according to ex. Taking the gradient of the potential in equation (10), and the attractive/repulsive field force is obtained as follows

ÀdiCPS
Conclusions
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