Collision-Free Formation-Containment Tracking of Multi-USV Systems with Constrained Velocity and Driving Force

Collision-Free Formation-Containment Tracking of Multi-USV Systems with Constrained Velocity and Driving Force

This paper studied the collision avoidance issue in the formation-containment tracking control of multi-USVs (unmanned surface vehicles) with constrained velocity and driving force. Specifically, based on a dual-layer control framework, it designed a multi-USV formation-containment tracking control...

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Bibliographic Details
Main Authors: Jingchen Wang, Qihe Shan, Tieshan Li, Geyang Xiao, Qi Xu
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Journal of Marine Science and Engineering
Subjects:
multi-USV systems
formation-containment tracking control
quadratic programming
collision avoidance
control barrier function
dual-layer scheme
Online Access:https://www.mdpi.com/2077-1312/12/2/304

Internet

https://www.mdpi.com/2077-1312/12/2/304

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