Finite Time Cooperative Collision Avoidance Control of Multiple Dynamic Positioning Vessels

In this paper, a finite-time cooperative formation collision avoidance control algorithm is proposed for the cooperative collision avoidance problem of MOB system composed of multi-dynamic positioning vessels. Based on the idea of multi-agent back-stepping formation control, we introduce the obstacle avoidance strategy, then design the collision avoidance potential function and the obstacle avoidance potential function of the dynamic positioning ships. Finally, finite-time convergence theorem is introduced to design the distributed formation controller of multi-dynamic positioning vessels with collision avoidance and obstacle avoidance capabilities. Simulation experiments show that the designed cooperative controller can handle the formation, collision avoidance, and static obstacle avoidance tasks well at the same time, which proves its effectiveness and correctness.