Framework for formation control of jet-propelled unmanned surface vehicles
Source abstract
Abstract
This study focuses on the research of spray-pump type unmanned surface vehicles (USVs). Based on the analysis of the dynamics and motion characteristics of USVs, a method combining Dubins curves and the particle swarm optimization algorithm is proposed to find the optimal or suboptimal solution for the formation path. The research goal is to switch multiple USVs from an unordered state to a formation state, taking the speed of USVs and the formation endpoint as dynamic variables and integrating Dubins curve theory into the particle swarm optimization algorithm. A theoretical framework for the formation of spray-pump type USVs is proposed. Finally, the formation of three USVs is realized in a simulation platform.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Path Planning Algorithms · Distributed Control Multi-Agent Systems · Fluid Dynamics Simulations and Interactions
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Weaponry Engineering, Naval University of Engineering , 717 Jiefang Road, Qiaokou District, Wuhan City, Hubei Province 430000, China
Funding
Natural Science Foundation of Hubei Province
References (16)
Show source-provided references
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16. 2014