A collision avoidance approach via negotiation protocol for a swarm of USVs

For solving collision avoidance issue of a swarm of unmanned surface vehicles (USVs) under complex situations, a collision avoidance approach using a negotiation protocol for USVs is proposed. To fulfill the collision avoidance, the authors first discuss the maneuverability, encounter situation division. Then, a collision avoidance ad-hoc network is constructed for the negotiation communication between USVs. Moreover, to cope with complex collision avoidance situations, an USV negotiation protocol is designed. Simulations under generous complex scenarios are carried out to validate the effectiveness of the authors approach. Results verify that the authors approach is effective and reliable for resolving the problem of a swarm of USVs collision avoidance.


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  • Accession Number: 01766700
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Feb 24 2021 3:58PM