Multi-USV Formation Reconfiguration Based on Guiding Vector Fields and Control Barrier Functions

This paper presents a formation reconfiguration controller design method for a fleet of unmanned surface vehicles (USVs) subject to static and dynamic obstacles. The controller design follows two steps. At the first step, based on a guiding vector field, a desired yaw angle is designed to avoid the...

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Bibliographic Details
Published inChinese Control and Decision Conference pp. 3529 - 3534
Main Authors Gong, Xiaoxuan, Liu, Lu, Wang, Haoliang, Wang, Anqing, Wang, Dan, Peng, Zhouhua
Format Conference Proceeding
LanguageEnglish
Published IEEE 15.08.2022
Subjects
Autonomous vehicles
Control Barrier Function
Design methodology
Formation Reconfiguration
Guidance Vector Field
Sea surface
Surges
Unmanned Surface Vehicles
Vehicle dynamics
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ISSN1948-9447
DOI10.1109/CCDC55256.2022.10034039

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Summary:This paper presents a formation reconfiguration controller design method for a fleet of unmanned surface vehicles (USVs) subject to static and dynamic obstacles. The controller design follows two steps. At the first step, based on a guiding vector field, a desired yaw angle is designed to avoid the static obstacles in the sea environment. At the second step, control barrier function is introduced to avoid collision between each USV with its neighbors and dynamic obstacles, and an optimal surge speed is obtained by solving a quadratic program (QP) problem. A hardware-in-loop simulation is given to substantiate the efficacy of the proposed method.
ISSN:1948-9447
DOI:10.1109/CCDC55256.2022.10034039