A Formation Control and Obstacle Avoidance Method for Multiple Unmanned Surface Vehicles

This study introduces a method for formation control and obstacle avoidance for multiple unmanned surface vehicles (USVs) by combining an artificial potential field with the virtual structure method. The approach involves a leader–follower formation structure, where the leader autonomously avoids co...

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Bibliographic Details

Published in:	Journal of Marine Science and Engineering
Main Authors:	Guanqun Liu, Naifeng Wen, Feifei Long, Rubo Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2023-12-01
Subjects:	unmanned surface vehicle obstacle avoidance formation maintenance artificial potential field virtual structure
Online Access:	https://www.mdpi.com/2077-1312/11/12/2346