Research on Formation Control for Unmanned Surface System Based on Behavioral Approach

Facing the complex environment of surface and underwater, unmanned surface system cluster is the key research direction of future military unmanned system equipment. In this paper, simulation modeling is carried out for the unmanned surface system formation based on the behavioral approach, pre-defined the change of unmanned surface system from an aggregated state to a formation of 4 rows and 4 columns on the water surface, the definition of sensor ranges for unmanned surface system and the study of following algorithms, the sensor model and destruction model of the unmanned surface equipment are established, the initial formation position and tracking adsorption behavior of the surface unmanned equipment are established, and the feasibility of this formation control is verified.