Formation Control of Swarming Vessels Using a Virtual Matrix Approach and ISOT Guidance Algorithm

The formation control for the effective operation of multiple vessels is discussed. First, a virtual matrix approach proposed to improve robustness and transform performance during swarm operations, which created based on leader vessel location, agents composing follow cells in maintain formation. This affected by location. location defined two cases: center geometric center; furthermore, efficiency comparison simulations are performed. simulation results show that most formations, better terms robustness. Second, isosceles triangle guidance algorithm “go-back behavior” certain excessive maneuvering. Through waypoint-following simulation, confirmed be superior line-of-sight algorithm. map verifies