Flexible Formation Control of Multiple Unmanned Vehicles Based on Artificial Potential Field Method

Abstract

Aiming at the problems of high complexity, strong coupling, and difficulty in carrying out experiments in the unmanned boat formation control algorithm at the present stage, this paper designs a multi-unmanned boat flexible formation controller based on the artificial potential field method, which will have nonlinear dynamic characteristics motion control problem of flexible formation of unmanned boats is transformed into the problem of tracking dynamic targets by unmanned boats. The controller adopts the idea of hierarchical cascading control, the planning layer introduces a virtual leader, and designs the swarm motion control mode under the condition of maintaining connectivity; the control layer uses a PID controller to help the unmanned vehicle track the dynamic continuous target generated by the planning layer, so as to realize the flexible formation motion control of multiple unmanned vehicles. Finally, the simulation verification of the flexible formation motion control algorithm is carried out for the static and dynamic virtual piloting situations.