Unmanned Surface Vehicle Cooperative Target Encirclement Control Method
USV are widely applied across various fields,and their role in marine environment and resource exploration is becoming increasingly prominent.In order to respond to the challenges associated with USV collaboration and swarm,research has deepened.For USV,a brief overview is provided focusing on both single USV and multi-USV collaborative target encirclement.Based on the kinematics of USV,a Proportion Integration Differentiation(PID)based kinetic control method is proposed and its effectiveness is validated through simulation experiments.The results demonstrate that the proposed control method enables the controlled vessel to closely follow the given forward speed and actual angular velocity.
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