首页|基于电子海图的无人艇集群区域覆盖路径规划

基于电子海图的无人艇集群区域覆盖路径规划

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[目的]针对无人艇(ASV)集群区域覆盖问题,设计一种基于电子海图信息系统(ECDIS)的多无人艇区域覆盖路径规划方法.[方法]首先,通过提取ECDIS中的海陆和水深信息,建立基于栅格化方法的无人艇集群覆盖区域环境模型.其次,提出一种基于轮盘选择法的区域划分方法,解决基于初始位置的区域划分方法区域划分不规则的问题,实现在栅格地图中对无人艇集群覆盖子区域的合理划分.最后,构建一种基于模板法的区域覆盖路径规划方法,解决生成树覆盖方法路径转弯数量较多的问题.[结果]搭建基于ECDIS的无人艇集群人机交互仿真平台,验证所提基于轮盘法和模板法的区域覆盖路径规划方法对优化规划路径转弯数量的有效性.[结论]采用所提基ECDIS的无人艇集群区域覆盖路径规划方法,实现多无人艇对海上目标任务区域的覆盖路径规划.
Area coverage path planning of multiple ASVs based on ECDIS
[Objective]Aiming at the area coverage problem of multiple autonomous surface vehicles(ASVs),this paper investigates a coverage path planning(CPP)strategy based on an electronic chart display and information system(ECDIS).[Method]First,according to the information of sea,land and water depth from ECDIS,an environmental model for the area coverage of ASVs is established based on the grid method.Second,an area division method based on the roulette wheel selection method is proposed to solve the prob-lem of irregular area division in divided areas based on the robots'initial position method,and achieve the reasonable area division of ASVs in the grid map.Finally,a template-based area coverage path planning meth-od is proposed to solve the problem of generating too many turns in paths generated by the spanning tree cov-erage agorithm.[Results]A human-machine interactive simulation platform for ASVs based on ECDIS is established to verify the effectiveness of the proposed area coverage path planning method based on the roul-ette wheel method and template method in optimizing the number of turns in the planning path.[Conclusion]The proposed area coverage path planning method for ASVs based on ECDIS can be used to achieve coverage path planning in target mission areas at sea.

swarming autonomous surface vehiclesarea coverage path planningspanning tree coverage planningECDIS

马鸣、古楠、董佳伟、尹勇、韩冰、彭周华

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大连海事大学 船舶电气工程学院,辽宁 大连 116026

大连海事大学 航海学院,辽宁 大连 116026

上海船舶运输科学研究所 船舶运输控制系统国家工程研究中心,上海 200135

无人艇集群 区域覆盖路径规划 生成树覆盖规划 电子海图

科技创新2030—"新一代人工智能"重大项目国家高层次特殊人才支持计划资助项目国家自然科学基金资助项目福建省自然科学基金资助项目大连市高层次人才创新支持计划资助项目中国博士后科学基金资助项目

2022ZD011990236261402519790202022J0111282022RQ0102022M720619

2024

10.19693/j.issn.1673-3185.03202

中国舰船研究
中国舰船研究设计中心

中国舰船研究

CSTPCD北大核心
影响因子：0.496
ISSN：1673-3185
年,卷(期)：2024.19(1)
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