Research on Occupation Strategy of Unmanned Surface Vehicles Considering the Constraint of Bow Turning Characteristics

In the process of multiple unmanned surface vehicles formation navigation, when the task changes, it is necessary to drive the following ship to change back to the expected position of the leader ship, so that the multiple unmanned surface vehicles can maintain the set formation and continue to carry out the task. Aiming at the problem of formation control of leader-following unmanned surface vehicles, this paper focuses on the influence of the bow turning characteristics of USVs on the trajectory in the process of changing the position. By constructing the speed equation and the position equation, this paper solves the change of the bow turning characteristics of USV s on the track, which provides a reference for practical engineering. On basis of simulation, it can be seen that the method of this paper owns good effect on the changing of occupation position. It can accurately reflect the impact of turning characteristics on the tracks of the leader ship and the following ship under different initial heading angles and initial positions.