Self-Organizing Cooperative Pursuit Strategy for Multi-USV with Dynamic Obstacle Ships

A self-organizing cooperation strategy for multiple unmanned surface vessels (USVs) to pursue intelligent evaders in the case of a dynamic obstacle vessel is proposed. Firstly, cooperative hunting proposed form an Apollonius circle. According escape strategies under different encirclement states, pursuers are divided into pursuit group and ambush group. The drives area completes together with In order better deal ships encountered process ocean environment, artificial potential field-based collision avoidance method inter-USV encountering based on International Regulations Preventing Collisions at Sea (COLREGs) simulation results show that algorithm can make complete has good performance flexibility environment ships.