Formation Control With Collision Avoidance And Obstacle Avoidance Of Unmanned Surface Vehicles

Multiple ship cooperative control is derived from the behavior of biological groups in nature.It has wide application prospects in industrial production,search and rescue,marine exploration and resource exploration,military operations and other fields.Generally speaking,the communication,perception and decision-making ability of a single ship is limited.In this field,how to realize the cooperative formation,intelligent perception,and collision avoidance of the ships becomes the key problems.In particular,ship formation control is one of the basic and important tasks of swarm ships,and it is also one of the research hotspots in the field of ship motion control at home and abroad.In order to complete this task,it is necessary to make the ship group achieve the consensus of sailing speed and the invariance of relative position.In addition,the safety and reliability of ship formation cannot be ignored,such as collision avoidance between any two ships,obstacle avoidance between the ship formation and external obstacles,and reliable communication maintenance between two ships are very important.How to realize ship formation in consideration of collision avoidance,obstacle avoidance and connectivity maintenance is an important problem to be solved in the field of ship motion cooperative control.Based on the existing research results,this paper discusses how to realize intelligent ship formation control with collision avoidance and obstacle avoidance.Firstly,the problem of how to realize the formation and collision avoidance of the second-order multi-agent systems with nonlinear dynamics is discussed,and then the controller is extended to the obstacle avoidance of ship formation control.The main works of this paper are as follows.Firstly,aiming at the problem of collision free motion control of second-order nonlinear multi-agent systems in the presence of obstacles,a formation control strategy with collision avoidance and obstacle avoidance is proposed by using leader-follower(LF)methods,adaptive neural network(NN)control technologies and artificial potential field(APF)methods.In addition,considering that the potential fields of collision avoidance and obstacle avoidance may easily lead to excessive separation distance between agents and lead to the loss of connectivity of communicating agents,a connectivity maintenance controller is designed to improve the reliability of the formation control.Secondly,the formation control strategy of unmanned surface vehicles(USV)is proposed.In this paper,combined with the leader follower formation framework,graph theory and the second-order nonlinear multi-agent systems formation control strategy,the unmanned surface vehicle formation control with collision avoidance,obstacle avoidance and connectivity maintenance is realized.In general,through the integration of graph theory,leader-follower methods,artificial potential field methods,adaptive neural network technologies,the control strategy of unmanned surface vehicle formation with considering collision avoidance,obstacle avoidance is proposed in this paper.