无人水面艇岛礁海域完全遍历路径规划

doi:10.3969/j.issn.1007-2861.2016.07.020

Abstract

Abstract:

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.

Key words: dynamic grids algorithm , heuristic algorithm based on priority , heuristic search algorithm, path planning , unmanned surface vehicle (USV)

ZHONG Yuxuan, GE Lei, ZHANG Xin, PENG Yan, YANG Yi, LI Xiaomao. Complete coverage path planning of USV used for mapping round island[J]. Journal of Shanghai University（Natural Science Edition）, 2017, 23(1): 17-26.

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Complete coverage path planning of USV used for mapping round island

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