Motion Control and Collision Avoidance Algorithms for Unmanned Surface Vehicle Swarm in Practical Maritime Environment

Motion Control and Collision Avoidance Algorithms for Unmanned Surface Vehicle Swarm in Practical Maritime Environment

The issue of controlling a swarm of autonomous unmanned surface vehicles (USVs) in a practical maritime environment is studied in this paper. A hierarchical control framework associated with control algorithms for the USV swarm is proposed. In order to implement the distributed control of the autono...

Full description

Bibliographic Details
Main Authors: Zhuang Jiayuan, Zhang Lei, Qin Zihe, Sun Hanbing, Wang Bo, Cao Jian
Format: Article
Language:English
Published: Sciendo 2019-03-01
Series:Polish Maritime Research
Subjects:
usv
swarm control
collision avoidance
sliding mode
artificial potential field
Online Access:https://doi.org/10.2478/pomr-2019-0012

Internet

https://doi.org/10.2478/pomr-2019-0012

Similar Items