A NOVEL COLLISION AVOIDANCE STRATEGY FOR MULTI-USV FORMATION USING STREAM FUNCTIONS AND CONSENSUS ALGORITHMS

Wei Xu∗,∗∗ and Ning Cao∗

Keywords

MultiUSV, consensus algorithms, uniform flow, collision avoidance

Abstract

This paper investigates the obstacle avoidance problem for a multiunmanned surface vehicle (USV) team based on the use of stream function and consensus algorithm. A new collision avoidance strategy for multi-USV formation is proposed, where the complex potential derived from a stream function is utilized based on a consensus control algorithm with each USV being a particle mimicking the flow around the fluid along its streamline to avoid obstacles. After obstacle avoidance, each USV quickly continues to achieve the formation movement along the original trajectory. Collision avoidance between two multi-USV teams with master–slave is discussed. According to the proposed strategy, each USV of the slave multi-USV team could actively avoid the master multi-USV team treated as a moving obstacle. The effectiveness of the proposed algorithms is verified through simulation studies.

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