Morel, T. , PERALTA SAMANIEGO, FEDERICO, Chen, Y. , BEJARANO PELLICER, GUILLERMO, ORIHUELA ESPINA, DIEGO LUIS

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Conference Paper

Científica

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https://www.scopus.com/inward/record.uri?eid=2-s2.0-105011591867&doi=10.1016%2Fj.ifacol.2025.07.020&partnerID=40&md5=2e0bf35730552406e4d81c6af557030c

01/01/2025

2-s2.0-105011591867

10.1016/j.ifacol.2025.07.020

This paper introduces a hierarchical flocking control strategy for underactuated autonomous surface vehicles addressing nonlinear dynamics, environmental disturbances, and obstacle avoidance. The proposed framework integrates high-level flocking, mid-level path-following guidance, and low-level dynamic control that explicitly manages actuator saturation. This hierarchical framework ensures cohesive group behavior, smooth transitions between control layers, and bounded control actions. Simulations using the CyberShip II model validate effectiveness, demonstrating minimized tracking errors and successful collision avoidance. The results highlight the robustness and applicability of the proposed approach for coordinating multiple underactuated autonomous surface vehicles in realistic operational scenarios with constrained propeller power. © 2025 The Authors.

Autonomous vehicles; Behavioral research; Dynamics; Autonomous surface vehicles; Control strategies; Environmental disturbances; Flocking control; Low-level dynamics; Marine systems; Multi-vehicle systems; Obstacles avoidance; Path following; Underactuated; Collision avoidance

• GUILLERMO BEJARANO PELLICER
• FEDERICO PERALTA SAMANIEGO