1.No.710 R&2.D Institute, CSSC
In actual engineering applications, traditional formation control algorithms can`t solve the problem of collisions during the formation of unmanned surface vehicle. Planning the initial state of the formation is frequently needed in advance, which reduces the environmental adaptability of the algorithm. Aiming at this defect, a leader-follower algorithm combined with velocity obstacle algorithm is introduced in this paper, and improves velocity obstacle algorithm to solve the collision problem of unmanned surface vehicle in the formation process. In this paper, a motion simulation platform of the unmanned surface vehicle is established, and the simulation test of the unmanned surface vehicle formation control strategy proposed in this paper was carried out. Simulation experiments showed that the algorithm improves the stability of formation control and reduces the risk of collision during formation.