Formation control of autonomous surface vehicle and experimental validation

摘要

In this paper, formation controller based on leader-follower strategy is designed for autonomous surface vehicles (ASV), and field experiment with four vehicles in geometric formation is presented. First, the set up of communication network for multiple vehicles is introduced. Second, the design and implementation of the motion controller from single vehicle to multi-ASV formation controller is presented, in which the leader-follower strategy is adopted to maintain positional relationship between the leader vehicle and the followers. The distance and course control variables are decoupled based on the proposed fuzzy PID controller for ASVs. Finally, the experimental verification of single ASV control and Multi-ASV formation control is given.