Numerical simulation of formation optimization for a fleet of unmanned surface vehicles based on a minimum energy consumption requirement

Abstract

This study proposes a hydrodynamic optimization strategy focusing on minimum energy consumption to construct the formation of a fleet of unmanned surface vehicles (USVs) by transforming the longitudinal offset and transverse separation. USVs were used instead of Autonomous Underwater Vehicles (AUVs) to fully consider the influence of a wave on energy-savings and to address undersize spacing and limited wake. The numerical model provided reasonably accurate results when compared against a series of experimental prototype results. The body force model was used to replicate the impact of the propeller, and an echelon formation was arranged considering the aft wedge wave pattern region induced by the Kelvin wave. The energy consumption equations of two-, three-, and four-hull formations were denoted by resistance components and used to determine the energy relationship between individuals and collectives. Additionally, an optimization platform was developed to integrate the application programs because the computation times were extensive for numerical simulations of spacing configurations transformation