Cooperative path planning for USVs assembly task

In recent years, with the gradual increase of human exploration and development of marine resources, unmanned surface vessel (USV) has shown great application prospects. In this paper, a distributed cooperative path planning method for USVs assembly task is proposed. First, a guidance vector field is constructed for local path planning based on the global path to guide USVs to avoid obstacles, and a reinforcement learning strategy is introduced for adaptive coefficient adjustment of the vector field. Then, the speed of each USV is regulated using the average consensus theory to satisfy the constraint of simultaneous arrival. Finally, simulation experiments are conducted to verify the feasibility and effectiveness of the proposed approach.