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Volume 28 Issue 6
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2020  >  28(6): 634-641
WENG Lei, YANG Yang, ZHONG Yu-xuan. Collaborative Traversal Path Planning Algorithm of for Multiple Unmanned Survey Vessels[J]. Journal of Unmanned Undersea Systems, 2020, 28(6): 634-641. doi: 10.11993/j.issn.2096-3920.2020.06.007
Citation: WENG Lei, YANG Yang, ZHONG Yu-xuan. Collaborative Traversal Path Planning Algorithm of for Multiple Unmanned Survey Vessels[J]. Journal of Unmanned Undersea Systems, 2020, 28(6): 634-641. doi: 10.11993/j.issn.2096-3920.2020.06.007
shu

Collaborative Traversal Path Planning Algorithm of for Multiple Unmanned Survey Vessels

doi: 10.11993/j.issn.2096-3920.2020.06.007

  • School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China 2. School of Computer Engineering and Science, Shanghai University, Shanghai 200444, China

  • Received Date: 2020-09-02
  • Rev Recd Date: 2020-11-03
  • Publish Date: 2020-12-31
    Abstract
  • To obtain underwater geomorphological information of islands, reefs, and surrounding waters and improve surveying and mapping efficiency, collaborative surveying, and mapping using multiple unmanned survey vessels should be employed. In this study, a collaborative traversal path planning algorithm in conjunction with the scanline polygon method is used to obtain a dynamic grid map. A water environment model is then constructed, task areas are allocated based on the K-means++ algorithm, and a full traversal path is obtained by the heuristic path planning algorithm. Simulation results meet the requirements of uniformity and connectivity of the traversal path. A dynamic reprogramming algorithm is then proposed to reallocate the untraversed areas based on the number of unmanned vessels that can work in real time. The collaborative traversal algorithm is shown to improve the mapping efficiency of the grid map with different spacing, and the path repetition rate is low, meaning that dynamic reprogramming can be realized quickly and efficiently.

     

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