Research on Leader-Follower Cooperative for Multi-Unmanned Surface Vehicles Based on Sigmoid Method

According to the actual needs of marine resource development and marine environmental protection, in order to solve the problem of cooperative operation of multiple Unmanned Surface Vehicles (USVs), a multi-USVs cooperative path tracking algorithm based on Sigmoid function is proposed. The characteristic model for multi-USVs synchronous navigation is established. The path tracking algorithm is studied for the leader USV based on the inverse trigonometric function method. Considering the turning speed, the follower USV collaborative control algorithm is discussed. Thecontrol algorithm is used for the cooperative navigation control of multi-USVs. In this paper, simulation experiments on cooperative navigation of multi-USVs are carried out. The experimental data shows the feasibility and reliability of the leader-follower cooperative mechanism and cooperative control algorithm.