Swarm Navigation Control Algorithm for Unmanned Surface Vehicles Based on Priority Speed Control

In order to meet the task requirements of unmanned vehicle swarms, such as complex formation navigation, formation transformation, and formation obstacle avoidance. This paper proposes a navigation control algorithm for surface unmanned vehicle swarms based on priority ranking speed control. Each unmanned vehicle involved in the conflict is prioritized by calculating the distance to the closest collision point (DCPA). Adjust the speed of the unmanned surface vehicles according to the priority. The higher the priority, the faster the unmanned vehicle, so that potential collisions can be quickly eliminated. The algorithm can effectively control the formation navigation of unmanned boats through the test verification of real boat formation navigation, formation transformation and narrow channel passage.