Safe Coordinated Control of Multiple Unmanned Surface Vessels

Considering the issue of safe formation sailing for unmanned surface vessel (USV), a multi-leader USVs safe coordinated control method based on the artificial potential field (APF) is proposed, which ensures collision-free navigation during the formation process. First, the algebraic graph theory is introduced, and the communication model for multi-agent formation in the paper is presented, providing the foundation for the subsequent formation cooperative control design. Next, the form of the improved artificial potential function is given, which ensures the safety between USVs and between USVs and obstacles during the formation sailing process. Furthermore, parameterized paths and formation guidance laws for multi-leader formation control are developed, then the stability of the proposed control algorithm is rigorously proven. Finally, simulation experiments are conducted to validate the rationality and efficiency of the proposed safe coordinated control algorithm.