Hierarchical Formation Control of Model-Unknown Multi-USV Based on LOS Tracking and Consensus

This paper proposes a model-free hierarchical control approach for multi-USV formation, aiming to enhance adaptability and convergence speed. The upper layer utilizes a consensus protocol for trajectory planning, while the lower layer incorporates an improved Line-of-Sight tracking algorithm for path following. A trajectory prediction method is integrated to enable realtime, dynamic strategy adaptation to changing environmental conditions. The proposed method accelerates convergence by bypassing the LOS controller at later stages, ensuring efficient, collision-free formation control. Experimental results validate the robustness, flexibility, and efficacy of the approach in heterogeneous and dynamic multi-USV environments.