Completely Distributed Affine Formation Maneuvering of Networked Marine Surface Vehicles With Cooperation Localization

This paper develops a completely distributed affine formation maneuver control (CDAFC) algorithm for networked marine surface vehicles (NMSVs). The desired trajectories are generated by the affine image. Accordingly, NMSVs are capable to achieve arbitrary preset configuration transformations, while only a small part of the formation members called leaders obtain the configuration information. Then, a synthetical constraint is designed, which can concern position and attitude configuration rigidities simultaneously. This feature enables NMSVs to achieve formation maneuvers with time-varying formation speeds and orientations. On these bases, a novel CDAFC scheme is developed. In contrast to the conventional fully distributed control schemes, the implementation requirements are completely limited to the local reference frame, i.e., not only is CDAFC designed in a node-based way, but the CDAFC implementation just depends on the local relative poses and self velocities. Thus, we call it completely distributed. The semi-physical simulations are conducted to illustrate the effectiveness.

Automated summary

This paper presents a completely distributed affine formation maneuver control algorithm for networked marine surface vehicles (NMSVs). By using affine images to generate desired trajectories, NMSVs are able to achieve arbitrary preset configuration transformations, with only a small number of leaders having access to the configuration information. A synthetical constraint is designed to achieve position and attitude configuration rigidities simultaneously, allowing NMSVs to perform formation maneuvers with time-varying speeds and orientations. Compared to conventional fully distributed control schemes, the proposed algorithm is implemented solely within the local reference frame, relying on local relative poses and self velocities.