Research on USV Encirclement and Confrontation Strategy Based on Shepherding Algorithm

This paper introduces a novel approach for tackling USV confrontation tasks, focusing on encirclement and confrontation strategies. Shepherding Algorithm is adapted to guide the encircling and confronting USV(s) through the shepherd dog model and the sheep model, respectively. The outputs of these models are achieved by an active disturbance rejection control (ADRC) controller to generate appropriate heading and speed values, considering the dynamic and kinematic models of the USV. The proposed method simulates natural swarm behaviors and optimizes path planning under marine constraints. Experimental results validate the algorithm's effectiveness in both confrontation efficiency and adaptability.