Multi-USV Collaborative Obstacle Avoidance Based on Improved Velocity Obstacle Method

Cooperative obstacle avoidance of multiple unmanned surface vessels (multi-USV) is an important issue in unmanned vessel safety. This study aims to solve dynamic safety collision avoidance problems, especially decision oscillations, which exist in the traditional velocity obstacle method for multi-USV cooperative obstacle avoidance. To cope with these problems, we analyze the principle of the reciprocal velocity obstacle method based on multiple constraints, such as the dynamics constraint and International Regulations for Preventing Collisions at Sea (COLREGS) constraint of unmanned vessels, and propose an improved velocity obstacle method under multiple constraints. The method introduces the uncertainty factor of the velocity obstacle to obtain the optimal velocity of the USV when performing obstacle avoidance actions on the water surface and then achieves the replanning of the trajectory. Through simulation experimental verification, we demonstrate that this method can effectively resolve different encounter conflict situations, achieve coordinated motion control among multiple USVs, and improve the safety of USV obstacle avoidance. In addition, the method meets the dynamic obstacle avoidance requirements of surface unmanned vessels under multiple constraints in actual navigation. This research is of great significance in improving unmanned vessels' autonomous obstacle avoidance capability and provides strong support for the practical application of unmanned vessels. Future research can further explore the applicability of the method.