基于集群运动控制的无人艇覆盖部署方法

For efficient marine observation and monitor through unmanned surface vehicles (USVs) swarm, a novel deployment algorithm is provided for the swarm to optimize the spatial distribution of individual USV's position, so that the swarms can eventually coverage given region. A model of virtual force acting on an individual USV is presented, in which only the information from its neighbors in the given region is considered together with the attraction from the target area. The USVs are driven by the virtual forces towards various targets located in the working area, and a complete coverage is achieved finally. The simulation results show that the final deployment can keep the connectivity of the USVs network, and get the maximal instantaneous area coverage. In addition, collision between members in the swarm can be avoided successfully. This deployment algorithm of USV cluster can be applied to scenarios in which USVs are randomly deployed initially or initially gathered to their mother ship.