<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The issue of controlling a swarm of autonomous unmanned surface vehicles (USVs) in a practical maritime environment is studied in this paper. A hierarchical control framework associated with control algorithms for the USV swarm is proposed. In order to implement the distributed control of the autonomous swarm, the control framework is divided into three task layers. The first layer is the tele-operated task layer, which delivers the human operator’s command to the remote USV swarm. The second layer deals with autonomous tasks (i.e. swarm dispersion, or avoidance of obstacles and/or inner-USV collisions), which are defined by specific mathematical functions. The third layer is the control allocation layer, in which the control inputs are designed by applying the sliding mode control method. The motion controller is proved asymptotically stable by using the Lyapunov method. Numerical simulation of USV swarm motion is used to verify the effectiveness of the control framework.</p></abstract>

The issue of controlling a swarm of autonomous unmanned surface vehicles (USVs) in a practical maritime environment is studied in this paper. A hierarchical control framework associated with control algorithms for the USV swarm is proposed. In order to implement the distributed control of the autonomous swarm, the control framework is divided into three task layers. The first layer is the tele-operated task layer, which delivers the human operator’s command to the remote USV swarm. The second layer deals with autonomous tasks (i.e. swarm dispersion, or avoidance of obstacles and/or inner-USV collisions), which are defined by specific mathematical functions. The third layer is the control allocation layer, in which the control inputs are designed by applying the sliding mode control method. The motion controller is proved asymptotically stable by using the Lyapunov method. Numerical simulation of USV swarm motion is used to verify the effectiveness of the control framework.

Motion Control and Collision Avoidance Algorithms for Unmanned Surface Vehicle Swarm in Practical Maritime Environment

Zhuhai Yunzhou Intelligence Technology Ltd.,

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

The issue of controlling a swarm of autonomous unmanned surface vehicles (USVs) in a practical maritime environment is studied in this paper. A hierarchical...

Motion Control and Collision Avoidance Algorithms for Unmanned Surface Vehicle Swarm in Practical Maritime Environment

Data publikacji: 15 kwi 2019

Zakres stron: 107 - 116

DOI: https://doi.org/10.2478/pomr-2019-0012

Słowa kluczowe
USV, swarm control, collision avoidance, sliding mode, artificial potential field

© 2019 Jiayuan Zhuang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Motion Control and Collision Avoidance Algorithms for Unmanned Surface Vehicle Swarm in Practical Maritime Environment

Data publikacji: 15 kwi 2019

Zakres stron: 107 - 116

DOI: https://doi.org/10.2478/pomr-2019-0012

Słowa kluczoweUSV, swarm control, collision avoidance, sliding mode, artificial potential field

© 2019 Jiayuan Zhuang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Słowa kluczowe
USV, swarm control, collision avoidance, sliding mode, artificial potential field