Complete coverage path planning for autonomous marine vehicle used in multi-bay areas

被引：0
|
作者：
Miao R. [1 ]
Pang S. [1 ]
Jiang D. [1 ]
Dong Z. [2 ]
机构：
[1] National Key Laboratory of Autonomous Underwater Vehicle, College of Shipbuilding Engineering, Harbin Engineering University, Harbin
[2] School of Transportation, Wuhan University of Technology, Wuhan
来源：
Cehui Xuebao/Acta Geodaetica et Cartographica Sinica | 2019年 / 48卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Autonomous marine vehicle; Complete traversal path planning; Missed-bay searching behavior; Repeated-bay searching behavior; Seabed topographic mapping;
D O I：
10.11947/j.AGCS.2019.20180385
中图分类号：
学科分类号：
摘要：
When using autonomous marine vehicles (AMVs) collecting seabed or hydrologicaldata, the algorithm of simple zigzag complete traversal path planning easily leads to repeated search regions and missed search regions in multi-bay ocean environment. This paper presents the environment expression concepts of repeated bay and missed bay with their points of entry, exit, and gateway. By modifying the simple zigzag complete traversal path planning algorithm using repeated-bay searching behavior and missed-bay searching behavior based on the those environment expression concepts, the new algorithm effectively reduces the area of the repeated search regions and the missed search regions for AMVs in complete traversal tasks. The efficiency and low energy consumption of the modified algorithms were tested for complete traversal path planning by computer simulation, which simulated an autonomous underwater vehicle (AUV) with known resistance characteristic in a gridding search area with a constant current velocity and flow distribution. Finally, the energy saving property and practicability of the modified algorithm were tested for complete traversal path planning on an unmanned surface vehicle (USV) in the lake. © 2019, Surveying and Mapping Press. All right reserved.
引用
收藏
页码：256 / 264
页数：8
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