Abstract
This paper addresses the distributed swarm control problem of multiple unmanned surface vehicles (USVs) in Euclidean space with virtual leader. Firstly, to investigate the topology of the neighborhood relations between vehicles, a new time-variant topology structure is proposed. Secondly, to research the dynamic properties of the group for the case where the number of virtual leader is different, a grouping method based on cosine similarity is proposed. Thirdly, to ensure the high effeciency of information transmission and the reduction of costs, a distributed swarm control algorithm is proposed, which is mainly composed of three parts: gradient descent term, velocity consensus term and navigational feedback term. To analyze the stability of system, the concept of translation framework is introduced. Based on the properties of the Hamiltonian and LaSalle invariance principle, the stability of multiple USVs swarm motion is proved. Finally, simulation results illustrate the effectiveness of the proposed methods.
Highlights
Swarming is ubiquition in nature, and it is a form of collective behaviour of multiple interacting agents with a common group objective
We investigate the dynamic properties of the group for the case where the number of virtual leader is different and the topology of the neighborhood relations between vehicles is dynamic
Under the premise of learning preparatory knowledge, a grouping method based on cosine similarity is proposed
Summary
Swarming is ubiquition in nature, and it is a form of collective behaviour of multiple interacting agents with a common group objective. Swarm is defined as multiple autonomous agents moving cooperatively to fulfil global objective of a scientific or technological mission. This term is often observed in nature. Over the past several years, the theory and application of multi-agent systems have attracted great attention. Multiple USVs, which is one of the most actively studied topics within the realm of multi-agents systems, generally aims to drive USVs to achieve prescribed constraints on their states [9]. The studies focus on designing appropriate protocols and algorithms so that the multiple USVs can achieve various forms of agreement
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