Flexible Collision-free Platooning Method for Unmanned Surface Vehicle with Experimental Validations
Bin Du,Bin Lin,Wei Xie,Weidong Zhang,Rudy R. Negenborn,Yusong Pang,Bin Du,Bin Lin,Wei Xie,Weidong Zhang,Rudy R. Negenborn,Yusong Pang
This paper addresses the flexible formation problem for unmanned surface vehicles in the presence of obstacles. Building upon the leader-follower formation scheme, a hybrid line-of-sight based flexible platooning method is proposed for follower vehicle to keep tracking the leader ship. A fusion artificial potential field collision avoidance approach is tailored to generate optimal collision-free t...
