收稿日期: 2017-01-04
网络出版日期: 2017-02-28
基金资助
国家自然科学基金资助项目(61403245, 51675318, 61673254); 上海市科委能力建设资助项目(14500500400)
Complete coverage path planning of USV used for mapping round island
Received date: 2017-01-04
Online published: 2017-02-28
钟雨轩, 葛磊, 张鑫, 彭艳, 杨毅, 李小毛 . 无人水面艇岛礁海域完全遍历路径规划[J]. 上海大学学报(自然科学版), 2017 , 23(1) : 17 -26 . DOI: 10.3969/j.issn.1007-2861.2016.07.020
When mapping the seabed around islands independently, there are difficulties like large amount of calculation and complex task scene for mapping with an unmanned surface vehicle (USV). To solve the problems, an algorithm composed of a dynamic grids algorithm for main motion direction and a heuristic search algorithm is proposed. This algorithm establishes an environmental model based on the dynamic grids algorithm. The heuristic algorithm based on priority is used to choose an appropriate path point to travel. When the USV getting into a deadlock, an optimal path is generated with the heuristic search algorithm to get out. Simulation results show that performance of path planning is improved with the proposed algorithm. The planned path is more reasonable and effective to meet the needs when using USV to map the seabed around an island.
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