다중 무인수상선의 협력항법을 위한 포텐셜장 기반의 편대 제어 기초 연구

Abstract

This paper presents the potential field-based formation control framework considering a variation of the number of autonomous surface vehicles (ASVs). In this scheme, a virtual leader ASV is controlled to follow the predefined waypoints using the line-of-sight (LOS) approach and following ASVs are controlled to keep a relative range between the virtual leader ASV and each follower. For these, the APF (attractive potential field) for following the virtual leader ASV while keeping a relative range is designed, and the RPF (repulsive potential field) for collision avoidance between the vehicles is designed. In order to validate the feasibility of the proposed approach, simulations were performed and the results were briefly described.