<p>This paper addressed the USV collision-free consensus strategy under the UAV “Hawk eye” visual assistance to solve the goal of collision-free consensus control of heterogeneous unmanned systems. The models of unmanned systems of different platforms are unified in the state-space. The levels of autonomous decision making of each member in a heterogeneous unmanned system formation is divided and a grouped hierarchical communication topology design algorithm is proposed. Using communication weighting to establish a safe collision avoidance potential field for internal members with communication connectivity, and utilizing the advantage of UAV visual perception to establish a collision avoidance repulsion potential field for non-communicating members containing relative velocity auxiliary terms, completes the artificial potential field for USV formation assembly. A vision-based USV label remapping method is proposed to enable collision-free consensus of USV formations during assembly and reorganization. Simulation results confirm the efficiency of the proposed strategy.</p>