Swarm Formation Control System of Heterogeneous USV Based on Pilot-Following Method

Aiming at the problem of heterogeneous USVs swarm formation control, a upper computer swarm formation control system is built based on the pilot-following control algorithm. Firstly, the control system framework, hardware platform design and software implementation are designed. Then the algorithm design and software development are carried out. In the Qt environment based on C++ language, the remote communication module, real-time map display module, control algorithm parameter configuration module and other functional modules are designed and realized. Finally, three heterogeneous USVs are tested in the experimental lake, and the results of the real USV navigation test are compared with the simulation test. The experimental results show that the control system can control the swarm formation of heterogeneous USVs, which verifies the effectiveness and stability of the system. This paper mainly completes the design of heterogeneous USVs swarm formation control system and actual water test. The system has the functions of remote control, track mapping and display, real-time status feedback, control parameter debugging, etc. It can be applied to the research of USVs swarm formation control in actual water surface area.