Unmanned surface vehicles (USVs) are highly manoeuvrable and autonomous, and hold significant potential for both military and civilian applications, particularly in formation operations. However, because of their underactuated nature, USVs struggle to navigate in complex maritime conditions during formation. At present, most of the technology is devoted to Unmanned Areial Vehicles and ground robots; these methods cannot be well applied to underactuated USVs. Moreover, the rationality of local path planning decision-making for underactuated USVs formation is still lacking. This study proposes an interfered fluid dynamic system (IFDS)-based local path planning method, called USV-IFDS, specifically designed for the formation of underactuated USVs. This method incorporates the IFDS obstacle avoidance approach, while adapting it through modifications and the inclusion of the kinematic constraints of USVs, thereby enhancing its applicability to the maritime environment. By decomposing the flow field velocity vector and implementing a formation control strategy, we effectively address the challenges in forming underactuated USVs and enhance the efficiency of USV formation local path planning. The proposed formation technique is predicated on the highly robust virtual structure method. Simulations of formation local path planning indicate that our method produces smooth paths, therefore validating its practical applicability to underactuated USV formations.

中文翻译：

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欠驱动无人地面车辆避障和组装的形成：基于扰动流体的解决方案

无人水面车辆（USV）具有高度机动性和自主性，在军事和民用应用中具有巨大潜力，特别是在编队作战中。然而，由于其驱动不足的性质，无人水面艇在编队过程中很难在复杂的海洋条件下航行。目前大部分技术致力于无​​人机和地面机器人；这些方法不能很好地应用于欠驱动无人水面艇。此外，欠驱动USV编队的局部路径规划决策仍缺乏合理性。本研究提出了一种基于干涉流体动力系统（IFDS）的局部路径规划方法，称为USV-IFDS，专门用于形成欠驱动USV。该方法结合了 IFDS 避障方法，同时通过修改和纳入 USV 的运动学约束对其进行调整，从而增强其对海洋环境的适用性。通过分解流场速度矢量并实施编队控制策略，我们有效地解决了欠驱动USV编队的挑战，并提高了USV编队局部路径规划的效率。所提出的形成技术基于高度鲁棒的虚拟结构方法。编队局部路径规划的模拟表明，我们的方法可以产生平滑的路径，从而验证了其对欠驱动 USV 编队的实际适用性。