A mean square containment algorithm for unmanned surface vessels

Xutan Lu, Yanxuan Wu, Zhengjie Wang, Haozhe Cao

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

There are extensive civil and military applications of USVs(unmanned surface vessel), this paper focuses on the marine surveying and mapping application and analyzes the advantages of multi-USV cluster surveying and mapping, doing main research on one of many key technologies-multi-USV cluster control. Firstly, the structure of cluster controller is optimized. Then, the cluster problem of USVs is described by mathematical model and a mean square containment cluster control algorithm based on leader-follower strategy is designed, achieving the effect that we can control the entire cluster motion by only controlling the leaders' motion. Finally, the effectiveness of the algorithm is verified in numerical simulation in the case of ideal communication and communication with delays.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages569-574
Number of pages6
ISBN (Electronic)9781728137926
DOIs
Publication statusPublished - Oct 2019
Event2019 IEEE International Conference on Unmanned Systems, ICUS 2019 - Beijing, China
Duration: 17 Oct 201919 Oct 2019

Publication series

NameProceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

Conference

Conference2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Country/TerritoryChina
CityBeijing
Period17/10/1919/10/19

Keywords

  • Unmanned surface vessel
  • cluster
  • mean square containment control

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Lu, X., Wu, Y., Wang, Z., & Cao, H. (2019). A mean square containment algorithm for unmanned surface vessels. In Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 (pp. 569-574). Article 8995949 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS48101.2019.8995949