Framework for formation control of jet-propelled unmanned surface vehicles

This study focuses on the research of spray-pump type unmanned surface vehicles (USVs). Based analysis dynamics and motion characteristics USVs, a method combining Dubins curves particle swarm optimization algorithm is proposed to find optimal or suboptimal solution for formation path. The goal switch multiple USVs from an unordered state state, taking speed endpoint as dynamic variables integrating curve theory into algorithm. A theoretical framework proposed. Finally, three realized in simulation platform.