A Verification Method of Formation Control of USV Cluster Based on Virtual-Real Integration

LIANG Xiao; YANG Chengbin; ZHANG Zhihao; LIU Dianyong; LI Wei; YU Changdong

doi:10.11993/j.issn.2096-3920.2025-0050

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LIANG Xiao, YANG Chengbin, ZHANG Zhihao, LIU Dianyong, LI Wei, YU Changdong. A Verification Method of Formation Control of USV Cluster Based on Virtual-Real Integration[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0050

Citation:

LIANG Xiao, YANG Chengbin, ZHANG Zhihao, LIU Dianyong, LI Wei, YU Changdong. A Verification Method of Formation Control of USV Cluster Based on Virtual-Real Integration[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0050

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A Verification Method of Formation Control of USV Cluster Based on Virtual-Real Integration

doi: 10.11993/j.issn.2096-3920.2025-0050

1.
Naval Architecture and Ocean Engineering College, Dalian Maritime University, Dalian 116026, China
2.
College of Artificial Intelligence, Dalian Maritime University, Dalian 116026, China
3.
College of Environmental Science and Engineering, Dalian Maritime University, Dalian 116026, China

Received Date: 2025-04-01
Accepted Date: 2025-05-08
Rev Recd Date: 2025-04-26

Available Online: 2025-07-21

Abstract

Abstract

In the field of unmanned surface vessel(USV) research, the verification and optimization of autonomous algorithms are pivotal for advancing the technology, which has important research value for improving system reliability, environmental adaptability and mission execution efficiency. With the rapid development of digital twin technology, validation methods based on virtual-real integration have become key technical approaches in intelligent control algorithm research. To this end, this paper proposes a verification method for USV cluster formation control based on virtual-real integration. First, the concept of a five-dimensional virtual-real integration model for USV cluster is introduced, providing a theoretical foundation for experimental validation. Second, a physical USV experimental platform is constructed to enable autonomous navigation and control in real maritime environments. Third, a virtual test environment is developed using Unity3D software, modeling the maritime environment and USV models while establishing real-time communication with physical nodes. Finally, an unmanned autonomous collaborative control algorithm is designed to achieve USV formation control of the USV cluster. Experimental results demonstrate that the proposed method effectively validates autonomous algorithms for USV clusters. This research provides new perspectives and paradigms for intelligent cooperative operations and simulation-based confrontation training of future maritime unmanned systems.
- unmanned surface vessel(USV) cluster,
- virtual-real integration,
- digital twin,
- formation control,
- algorithm verification

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References(18)

References

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