Formation Method of Multiple Unmanned Surface Vehicles Based on Ring Topology Structure

In this paper, the problem of multiple USV(unmanned surface vehicle)s forming a regular polygon formation is studied. Based on the leader-follower approach, this article proposes a method for designing the communication topology in mobile ad hoc network to form a formation for USVs. A two-dimensional particle vehicle motion model with containment control method is established. Based on the motion model, the USV cluster is formed by the ring topology. Specifically, this paper proves that in the multi-USV containment control, due to the rotation symmetry of the ring topology, the shape of the followers’ convergence in the convex hull is consistent with the convex hull, and explains that under the formation of the USV cluster guided by the ring topology, the multi-USV cluster can be formed into a regular multilateral formation. Finally, the effectiveness of the method is verified by simulation experiments.