Work

Distributed Guidance Law for Containment Maneuvering of Underactuated Surface Vehicles

Year: 2025

Type: conference-paper

Abstract: In this paper, we propose a distributed guidance method for the containment maneuvering of multiple underactuated unmanned surface vehicles in the presence of ocean currents. In the proposed approach, consensus algorithms are first introduced to generate reference paths and synchronize the vehicles. Then, nonlinear surge and heading guidance laws are designed to ensure the convergence to the desired path and compensate for the sideslip effect. The effectiveness of the proposed approach is verified by numerical simulations.

Source: Zenodo (CERN European Organization for Nuclear Research)

DOI: 10.5281/zenodo.15071996

Authors: Otašević, Mitar, Martinović, Luka, Zecevic, Zarko

Institution: University of Montenegro

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funder: European Commission

Award: MONtenegrin center for Underwater SEnsor Networks