@inproceedings{854ac7892d404d0fbf377a966073b8da,
title = "Cluster containment control algorithm for unmanned surface vehicle with internal collision avoidance function based on potential energy function",
abstract = "Aiming at the problem of multi-unmanned surface vehicle(USV) cluster motion control, based on the consistency theory, the design of the containment control algorithm is combined with the method of potential energy function to increase the internal collision avoidance function of the cluster to realize the multi-USV collision avoidance containment control. This article mentions a communication system architecture used in multi-USV cluster detection applications, and thus analyzes the advantages of the leader-follower cluster structure. Under this structure, through the idea of consistency control and potential energy function, the algorithm design is completed, and the simulation results verify the control effectiveness of the designed algorithm under the non-global communication structure.",
keywords = "Collision avoidance, Communication system, Containment Control, USV cluster",
author = "Xutan Lu and Yanxuan Wu and Zhengiie Wang and Haozhe Cao",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd International Conference on Unmanned Systems, ICUS 2020 ; Conference date: 27-11-2020 Through 28-11-2020",
year = "2020",
month = nov,
day = "27",
doi = "10.1109/ICUS50048.2020.9274936",
language = "English",
series = "Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "263--267",
booktitle = "Proceedings of 2020 3rd International Conference on Unmanned Systems, ICUS 2020",
address = "United States",
}