Review of Improved Cooperative Control of Unmanned Surface Vehicle Based on Multi-Agent System

This paper introduces the development of unmanned surface vehicle (USV) and the development of multi-USV cluster cooperative control in recent years, including the research progress of USV technology in several major countries and the research status of multi-USV cluster cooperative control. From the aspect of communication technology, the commonly used communication methods for multi-USV cluster cooperative control are introduced, and several key transmission technologies in maritime wireless communication systems are listed. Based on multi-agent theory, several types of multi-USV cluster cooperative distributed control methods are introduced, including formation control, path tracking, and containment control.