Using multiple unmanned surface vehicle swarms to implement tasks cooperatively is the most advanced technology in recent years. However, how to find which swarm the unmanned surface vehicle belongs to is a meaningful job. So, this article proposed an artificial potential field-based swarm finding algorithm, which applies the potential field force directly to unmanned surface vehicles and leads them to their belonging swarm quickly and accurately. Meanwhile, the proposed algorithm can also maintain the formation stable while following the desired path. Based on the swarm finding algorithm, the artificial potential field-based collision avoidance method and the International Regulations for Preventing Collisions at Sea-based dynamic collision avoidance strategy are applied to the swarm control of multi-unmanned surface vehicles to enhance the performance in the dynamic ocean environment. Methods in this article are verified through numerical simulations to illustrate the feasibility and effectiveness of proposed schemes.

中文翻译：

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动态海洋环境中基于人工势场的无人水面航行器群发现

利用多个无人水面车辆群协同执行任务是近年来最先进的技术。然而，如何找到无人水面车辆属于哪个群体是一项有意义的工作。因此，本文提出了一种基于人工势场的群体寻找算法，该算法将势场力直接应用于无人水面车辆，并快速准确地引导他们找到属于自己的群体。同时，所提出的算法还可以在遵循所需路径的同时保持地层稳定。基于群发现算法，将基于人工势场的避碰方法和《国际海上避碰规则》中的动态避碰策略应用于多无人水面航行器的群控制，以提高动态海洋环境中的性能。本文中的方法通过数值模拟进行验证，以说明所提出方案的可行性和有效性。