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UAV Hawk eye visual aided USV collision-free consensus formation strategy
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DOI：10.1007/s12206-026-0246-5.png)
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Abstract
En 中文
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.
Keywords:
UAV-USVs
Hawk eye visual assistance
Formation consensus
Collision-free
Label remapping
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1.7
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481
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1.2W
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