Affine Formation Maneuver Control for Multi-Heterogeneous Unmanned Surface Vessels in Narrow Channel Environments

Affine Formation Maneuver Control for Multi-Heterogeneous Unmanned Surface Vessels in Narrow Channel Environments

This paper investigates the affine formation maneuver control for multi-heterogeneous unmanned surface vessels (USV), aiming to enable them to navigate through narrow channels in the near-sea environment. The approach begins with implementing an affine transformation to facilitate flexible configura...

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Bibliographic Details
Main Authors:	Yeye Liu, Xiaogong Lin, Chao Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2023-09-01
Series:	Journal of Marine Science and Engineering
Subjects:	multi-heterogeneous unmanned surface vessels disturbance estimation formation tracking control affine transformation
Online Access:	https://www.mdpi.com/2077-1312/11/9/1811

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