Collision Avoidance Algorithms for Unmanned Surface Vehicle-Based Formation Control Applications

TL;DRAbstract

This thesis is the result of work focusing on collision avoidance in connection with formation control for unmanned surface vehicles (USVs) using coordinated target tracking. Especially utilization of such vessels in marine survey operations is a subject of importance. Such operations include seabed mapping, geological surveys and seismic services, to name a few. The potential use of USVs alongside a manned leader vessel in a formation within a leaderfollower framework is in this thesis explored, together with development of algorithms rendering this possible. The objective is to enable the usage of such formations in the context of a marine survey operation. The range of which USVs are used in survey operations today is at best limited. Hence, possible areas of application within which unmanned craft can make a difference are definitely present in this segment. The main focus of this thesis is thus to develop purposeful algorithms enabling usage of USVs in formation with a manned lead

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