Research on velocity obstacle algorithm for unmanned surface vehicle swarm avoidance
In this paper,an Unmanned Surface Vehicle(USV)cluster avoidance algorithm is proposed to address the problem of mutual avoidance and obstacle avoidance in the public area of the sea.The algorithm improves the speed obstacle method by taking into account the position and speed of obstacles to estimate the cone region where a collision may occur in the future time window,and plans out the feasible domain half-plane.Moreover,the International Regulations for Prevent-ing Collisions at Sea(COLREGs)are introduced to constrain the avoidance direction and feasible domain range of USVs.In the case of multiple obstacles,by finding the optimal avoidance speed vector on the intersection of several feasible domains,it can guide USVs to avoid obstacles.This algorithm is independent for each USV,without a central node.The effectiveness of the proposed algorithm is verified by simulation,which divides dozens of USVs into multiple clusters for mutual avoid-ance tests.The simulation results demonstrate that this method can effectively prevent collisions between USV clusters,and has good robustness and real-time performance.
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