Fast marching square method based intelligent navigation of the unmanned surface vehicle swarm in restricted waters

摘要

Considering the limitations of a single unmanned surface vehicle (USV) in operations, such as a small mission area, lacking system autonomy and insufficient fault-tolerant resilience, there is an increasing interest in developing multiple USVs as a formation fleet in both civilian and naval areas. In order to enhance the autonomy of USVs and effectively achieve missions, an intelligent path planning algorithm and a collision avoidance control method of the USV swarm in restricted waters are presented in this paper. In terms of the path planning of the USV formation fleet, a fast marching square (FMS) method is utilized to generate an optimal path. Based on the path calculated by the FMS algorithm, collision avoidance behaviors are designed according to the International Regulations for Preventing Collisions at Sea (COLREGs), an international maritime collision avoidance regulation, to handle the collision avoidance between the USV swarm and other vessels sailing on the sea. The algorithms have been validated through computer-based simulations, which point out that the path is feasible and the USV swarm can avoid static obstacles as well as moving vessels.