USV Formation Path Planning Based on Behavior Trees and Fast Marching Method

In the deployment of multiple Unmanned Surface Vehicles (USVs) for collaborative operation, path planning is a crucial component. This paper addresses the path planning problem for USV formations operating in complex marine environments and proposes a multi-USV formation path planning method based on behavior tree formation control strategy and the Fast Marching Method (FMM). By adopting an adaptive formation library based on the FMM velocity potential field and a behavior tree formation obstacle avoidance control strategy, the path planning problem for USV formations in narrow and complex water areas is solved. Experimental validation demonstrates that the proposed method exhibits superior performance in complex marine environments, particularly in narrow obstacle zones.