信息与控制2025，Vol.54Issue(2)：226-240,15.DOI:10.13976/j.cnki.xk.2024.0502
基于冲突避免的无人船编队队形重构规划算法
Formation Reconstruction Planning Algorithm of Unmanned Surface Vehicles Based on Conflict Avoidance
摘要
Abstract
To address point conflicts in unmanned surface vehicle(USV)formations caused by neglec-ting task point allocation and edge conflicts,and the underactuated kinematic model,we present an in-depth analysis and novel solutions for formation reconfiguration.For point conflicts,we de-sign formation resolution rules integrated with a task allocation algorithm to plan a conflict-free set of target points.To tackle edge conflicts arising from traditional trajectory planning,which creates piecewise linear paths unsuitable for underactuated USVs,we introduce constraints based on the actual USV model and the concept of minimal trajectory units.By comparing our method with ex-isting algorithms through simulations and real-world tests,we conduct a detailed analysis of con-flicts.Experimental results show that in non-complex water environments,our proposed algorithm significantly outperforms benchmark algorithms,with no conflicts observed during actual opera-tions.These results effectively prove the efficiency and reliability of the proposed algorithm.关键词
导航、制导与控制/无人船/多机器人编队/轨迹规划Key words
navigation,guidance,and control/unmanned surface vehicle/multi-robot formation/trajectory planning分类
信息技术与安全科学引用本文复制引用
王忠泽,肖金超,王伟涵,熊俊峰..基于冲突避免的无人船编队队形重构规划算法[J].信息与控制,2025,54(2):226-240,15.基金项目
国家自然科学基金项目(62273332) （62273332）
广州市科技局项目(2024B01W0002) （2024B01W0002）
广州市南沙区高端领军人才创新团队项目(R2L3020301) （R2L3020301）
