COVERAGE ROUTE PLANNING METHOD FOR MULTIPLE UNMANNED SURFACE MAPPING VESSELS

摘要

A coverage route planning method for multiple unmanned surface mapping vessels, related to the field of route planning, comprising: simultaneously creating submaps and an overall map on the basis of a static map initialization grid state (S101); outputting location information of selves and obstacle information on the basis of USMVi of subareas of the submaps and of the overall map, transmitting to BLli, and updating BLlm; defining a behavior strategy list (BS); determining the BS with priority for route planning, outputting a te or th state if any criterion is satisfied, and outputting tpm on the basis of BLlm planning if cross-domain is involved; independently executing route planning if none is satisfied, outputting a tn or tc state (S102); when trapped in a local optimum, updating map layers layer-by-layer going upwards, searching for tp in the corresponding layers, performing a BS determination, and outputting a tr instruction (S103); if no target point is found even at the highest layer, checking each CSpi > ϵ{FNi, UFNi}, and determining a termination (S104). As such, the coverage rate and coverage effect of multiple unmanned surface mapping vessels in a complex environment can be increased, thus increasing the operational efficiency of the unmanned surface mapping vessels.