An innovative distributed self-organizing control of unmanned surface vehicle swarm with collision avoidance. (15th June 2022)

• Record Type: Journal Article
• Authors: Sun, Zhiyuan; Sun, Hanbing; Li, Ping; Zou, Jin; Zhuang, Jiayuan; Tan, Guoge
• Is Part Of: Ocean engineering. Volume 254(2022)
• Publication Date: 2022-06-15
• Subjects: Self-organizing control -- Unmanned surface vehicle -- Collision avoidance -- USV swarm -- Artificial potential field; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2022.111342
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: In this paper, a novel distributed self-organizing control of swarm is proposed for multiple underactuated surface vehicles (USVs) under the environment of irregular obstacles and complex unknown disturbances. An innovative method to deal with irregular obstacles by discretizing the boundary of obstacles is introduced, combining with artificial potential field (APF) method, it can achieve more reasonable collision avoidance of irregular obstacles. A virtual center point of swarm (CPS) is designed to make USVs follow the desired path, while the self-organization swarm strategy has more flexible response when encountering obstacles. Meanwhile, in order to compensate the uncertainty dynamics, the neural network (NN) approximation is used to estimate the ocean disturbance and model uncertainty. Simulation results demonstrate the effectiveness of the proposed strategy. Highlights: The collision avoidance strategy can be better implemented by discretizing the obstacle boundary. The self-organization method that can maintain the USVs swarm in formation was studied. Neural network (NN) has good approximation in estimating ocean disturbance and model uncertainty.