A novel double layered weighted potential field framework for multi-USV navigation towards dynamic obstacle avoidance in a constrained maritime environment

Motion planning of multiple unmanned surface vehicles (USVs) towards increased autonomy and wider coverage of the maritime environment is a pertinent requirement. Given the numerous types of USVs currently available with a wide spectrum of maneuvering capabilities, we present a generalized multi-USV navigation framework adaptable to specific USV maneuvering response capabilities for dynamic obstacle avoidance. The present paper integrates an optimal path planning with safety distance constrained A* algorithm and a proposed adaptively weighted potential field based path following approach with collision avoidance based on USV maneuvering response times. The system allows USVs with fast maneuvering abilities to react late and slow USVs to react sooner to oncoming moving obstacles gradually such that a smooth path is followed by the USV group with reduced cross track error. Simulation results validate reduced cross track error for slow and fast maneuvering response time multi-USV teams