Improved artificial potential-based formation control of Multi-USV systems for collision and obstacle avoidance under GPS attacks
Abstract: This paper proposes a formation control method for multi-USV systems with collision and obstacle avoidance under GPS attacks. First, the external environmental disturbance and nonlinear dynamics of the multi-USV systems are handled using fuzzy logic systems. Second, a protocol for the formation control of multi-USV systems under GPS attacks is designed. The collision and obstacle avoidance issues are addressed by an improved artificial potential field (APF) method. Finally, simulation examples demonstrate the effectiveness of the proposed control method.
Submission Number: 160
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