상대속도를 고려한 포텐셜 필드 기반 군집 무인수상선의 대형 제어

• Published in: 大韓造船學會 論文集 Vol. 61; no. 3; pp. 170 - 184
• Main Authors: 백승대, 김민승, 우주현, Seungdae Baek, Minseung Kim, Joohyun Woo
• Format: Journal Article
• Language: English; Korean
• Published: 대한조선학회 01.06.2024
• Subjects: 조선공학
• ISSN: 1225-1143; 2287-7355
• DOI: 10.3744/SNAK.2024.61.3.170

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.