Multi-unmanned Surface Vehicle Cruise Trajectory Design Based on Distributed Optimization

To address the problem of reference trajectory design for unmanned surface vessels(USV s) cruising, this paper proposes a solution based on a distributed time-varying collision-free optimization algorithm that generates optimal trajectory routes and achieves collision avoidance. First, for a distributed multi-USV system, a time-varying local cost function of its own is designed for each USV in the system. Second, a distributed optimization algorithm is proposed to generate a reference trajectory for the multi-USV system. Then, the feasibility of the algorithm is demonstrated by Lyapunov's stability analysis. Fi-nally, the effectiveness and practicality of the method in the USV cruising process are verified through simulation experiments. It ensures that the multi-USV can safely and efficiently complete the cruising task during the cruising process, and provides an effective solution to the problem of USV cruising reference trajectory design.