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Path-guided Collision-free Formation Guidance Law for a Fleet of Under-actuated Autonomous Surface Vehicles

Unlike the trajectory-guided formation control, this paper presents a path-guided time-varying formation guidance law design for a group of under-actuated autonomous surface vehicles while avoiding collisions among vehicles. The parameterized path information is known to a fraction of vehicles. The presented guidance law is designed based on a path-following design and an artificial potential function. The stability is established through Lyapunov stability analysis and it is proven that all error signals are uniformly ultimately bounded. Simulation results are given to verify the proposed path-guided time-varying formation guidance law for under-actuated vehicles.