Collision-free Cooperative Kinematic Guidance Laws for Multiple Unmanned Surface Vehicles Subject to Static and Dynamic Obstacles

This paper addresses the collision-free guidance law design for cooperative path following of multiple unmanned surface vehicles in the presence of static and dynamic obstacles. Specially, collision-free cooperative guidance laws are designed at the kinematic level, and a collision avoidance term is introduced into the desired yaw rate. A synchronized formation can be achieved by multiple unmanned surface vehicles, and at the same time the obstacles can be avoided. Theoretical analysis proves that by using presented cooperative guidance laws, the closed-loop system is globally uniformly asymptotically stable and collision can be avoided. Simulation results substantiate the effectiveness of the proposed method.