Research on the frame of formation of multi-USV

The research of formation is a multi-objective constrained problem. Path planning and collision avoidance is an important task in the formation and application of unmanned surface vessel (USV). It is necessary to generate the path from the specified starting point to the end point, meet the constraint of space collision avoidance on the multi-objective crossing path, and pursue the shortest formation time of the whole formation as far as possible. In this paper, a framework of multi-agent target path planning algorithm is proposed. Firstly, the A-star algorithm is selected to generate waypoints, and then then introduces the safe distance to constrain the movement time and state of different agents. From the level of overall target path planning, the strategy of delayed start is adopted to set the action state of different agents. Simulation results show that the algorithm is effective. The experimental results show that the algorithm avoids the path conflict between unmanned vehicles and effectively ensures the path safety.