Virtual Streamline Traction: Formation Cooperative Obstacle Avoidance Based on Dynamical Systems

Abstract

Formation obstacle avoidance is a critical aspect of cooperation among unmanned surface vehicles (USVs). In practical scenarios involving multiple USVs, managing obstacle avoidance during formation assembly and navigation is essential to ensure the success of cooperative tasks. This study devised a formation cooperative obstacle-avoidance scheme utilizing dynamical systems (DS). The traditional interfered fluid dynamical system (IFDS) applied in two-dimensional planes was enhanced to address local minima issues. Furthermore, robust virtual structure patterns were implemented to effectively decouple velocity vectors. Streamlines were optimized by adjusting velocity amplitudes within specific distance intervals, facilitating precise formation assembly amidst multiple obstacles. Additionally, a novel inter-vehicle disturbance method, distinct from the IFDS, was developed to enhance inter-vehicle collision avoidance. The effectiveness of the proposed method in enabling USV formations to adeptly navigate obstacles while maintaining formation integrity and collision-avoidance capabilities was analyzed theoretically and confirmed through simulation.