An Optimal Path Planning Algorithm for Cooperative USVs Situation Control

This paper proposes an optimal path planning algorithm for the situation control of multiple cooperative unmanned surface vehicles (USVs). The artificial potential field (APF) method is introduced to evaluate the navigation safety of the whole USVs, including the hunters and the target. Two optimization procedures are proposed to save the time to form the situation that can restrain the target USV. Finally, simulation results show the efficiency and feasibility of the proposed optimization algorithm.