A self-organizing multi-layer encirclement control method for unmanned surface vessels based on interactive saturation potential energy fields

By using a self-organized multi-layer encirclement control method based on the interactive saturation potential energy field, an adaptive layered encirclement of unmanned surface vessel swarms in dynamic environments was achieved, solving the problem of formation instability in existing technologies and improving the flexibility and safety of the encirclement.

CN122086015APending Publication Date: 2026-05-26HARBIN ENG UNIV +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN ENG UNIV
Filing Date
2026-03-05
Publication Date
2026-05-26

AI Technical Summary

Technical Problem

Existing unmanned surface vessel (USV) swarm encirclement control methods lack flexibility and adaptability, and cannot effectively handle underactuated characteristics and physical constraints, resulting in formations that are prone to becoming loose or overcrowded in dynamic environments, and requiring manual pre-setting of hierarchical levels.

Method used

A self-organized multi-layer encirclement control method based on interactive saturation potential energy field is adopted. A nonlinear elastic adjustment mechanism is constructed through local interactive intensity and interactive saturation index to realize the adaptive hierarchical encirclement of unmanned surface vessel swarm. The virtual force is converted into actual control commands by using a distributed control model and a dual-loop controller.

Benefits of technology

Without needing to pre-specify the hierarchy, the cluster can automatically form a stable multi-layered encirclement structure based on the environment, adapting to external disturbances and member changes, solving underactuated characteristics, and improving the stability and security of the encirclement.

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Abstract

This invention discloses a self-organizing multi-layer encirclement control method for unmanned surface vessels (USVs) based on an interactive saturation potential energy field. The method includes: acquiring state parameters and target position information of an USV swarm; constructing a distributed control model based on the USV swarm's state parameters and target position information; calculating the local interactive intensity field corresponding to each USV based on the perception information of each USV to its neighboring members in the distributed control model; calculating an interactive saturation index based on the local interactive intensity field and a preset desired balance threshold; constructing a multi-layer encirclement guidance mechanism based on the interactive saturation index, wherein the multi-layer encirclement guidance mechanism is used to calculate the total virtual desired force acting on the USVs; acquiring the desired heading angle and desired longitudinal velocity of the USVs based on the total virtual desired force; and generating actual control commands based on the desired heading angle and desired longitudinal velocity to drive the USV actuators to form a multi-layer encirclement posture.
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