Sea area full-coverage path planning for unmanned surface vehicle considering maneuvering constraints
[Objective]To overcome the dynamic constraints faced by an unmanned surface vehicle(USV)in sea area coverage tasks,a coverage path planning scheme is constructed that considers the motion character-istics of USVs.[Methods]For obstacle-free environments,polygon region coverage path planning is used to generate coverage paths.For obstructed or restricted environments,trapezoidal decomposition is adopted to decompose the target area into several sub-regions,and a genetic algorithm(GA)is used to optimize the link path between each sub-region.Based on the predicted trajectory set of the USV maneuvering motion model,the turning path and its corresponding reference propeller speed are optimized,and the full coverage of the tar-get sea area is achieved.[Results]The simulation results show that the proposed method can achieve 100%path coverage in sea areas containing obstacles,with each turning path satisfying the maneuvering motion characteristics of the USV.[Conclusion]The full-coverage path planning scheme proposed herein can gen-erate a path that satisfies the maneuvering constraints of the USV,giving it obvious practical value in the fields of intelligent fishery,marine exploration,and marine communication relay.
unmanned vehiclesmotion planningpath planningmaneuvering characteristicssea area full-coverage
国家科技期刊平台
NSTL
万方数据
