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The new mode of ship formation navigation can significantly enhance the level of ship intelligence and improve navigation efficiency. To address the obstacle avoidance problem of ship formations under obstacle-constrained environments, a control model for Autonomous Surface Vessel (ASV) formation is constructed using the virtual structure method, decomposing the formation control problem into path tracking control and path parameter coordination. Considering both dynamic/static obstacles during the navigation of ASVs formation, an obstacle avoidance control strategy based on artificial potential fields is proposed. It achieves formation maintenance and obstacle avoidance control for ASVs in complex environments. Simulation results show that ASVs can track paths in desired formation and effectively avoid obstacles.

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Research on ASVs Formation Obstacle Avoidance Based on Virtual Structure and Artificial Potential Field

  • 会议论文

  • 发表日期：

    2025年

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  • Yihai Chen,
  • Jinfen Zhang,
  • Bing Han,
  • Feng Ma,
  • Wuliu Tian

摘要

The new mode of ship formation navigation can significantly enhance the level of ship intelligence and improve navigation efficiency. To address the obstacle avoidance problem of ship formations under obstacle-constrained environments, a control model for Autonomous Surface Vessel (ASV) formation is constructed using the virtual structure method, decomposing the formation control problem into path tracking control and path parameter coordination. Considering both dynamic/static obstacles during the navigation of ASVs formation, an obstacle avoidance control strategy based on artificial potential fields is proposed. It achieves formation maintenance and obstacle avoidance control for ASVs in complex environments. Simulation results show that ASVs can track paths in desired formation and effectively avoid obstacles.