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http://dx.doi.org/10.9766/KIMST.2022.25.6.586

A Study on the Formation Control Algorithm of Multi-USVs According to COLREGs  

Jinyeong, Heo (Department of Industrial Engineering, Ajou University)
Hyunseok, Kim (Department of Computer Science, Hanyang University)
Sungjun, Shim (Unmanned/Intelligent Robotic Systems, LIG Nex1 Co., Ltd.)
Jooyoung, Kim (Unmanned/Intelligent Robotic Systems, LIG Nex1 Co., Ltd.)
Jaekwan, Ryu (Unmanned/Intelligent Robotic Systems, LIG Nex1 Co., Ltd.)
Yongjin, Kwon (Department of Industrial Engineering, Ajou University)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.25, no.6, 2022 , pp. 586-595 More about this Journal
Abstract
In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.
Keywords
Unmanned Surface Vehicle; Dynamic Window Approach; Collision Avoidance; COLREGs; Formation Control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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