[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.
关键词
无人艇集群/区域覆盖路径规划/生成树覆盖规划/电子海图
Key words
swarming autonomous surface vehicles/area coverage path planning/spanning tree coverage planning/ECDIS
维普
万方数据