Multinode network cooperation dynamic path programming method

Abstract

The invention provides a multinode network cooperation dynamic path programming method. Multiple unmanned boats equipped with sensors and GPS modules, namely movable communication nodes, are in network communication cooperation and can realize complete coverage in the water area with barriers, wind, and wave. The nodes with the sensors and the GPS modules perform the boundary determination on the water domain to be detected, the influence of the wind and wave the nodes during the travelling is compensated by a vector error compensation method, and the water domain to be detected with the determined boundaries is subjected to the unit decomposition based on a triangle; the coverage is carried out by an internal rotation method, a unit to be covered next time is programmed; the previous steps are repeated, if there is no unit to be covered around the node, a distance transform (DT) method is adopted to move to other uncovered areas to continuously complete the coverage operation until the water domains to be detected are completely covered. The multinode network cooperation dynamic path programming method has the advantages of wide application, high coverage efficiency, and high system stability.

Description

Technical field [0001] The invention relates to the field of complete coverage path planning algorithms, in particular to a multi-node network collaborative dynamic path planning method. Background technique [0002] In the field of drones (or mobile robots), the method of UAV global coverage path planning is mainly used for ground cleaning, area survey, lawn mowing, mine clearance, etc. Global coverage path planning mainly solves the following problems: 1. In the planning path, obstacles should be avoided. 2. It should cover all areas except obstacles in the area to be covered. 3. Repeated coverage should be avoided as much as possible. Global coverage path planning algorithms can be divided into three types from the perspective of planning methods: unit decomposition method, potential field grid method, global and local conversion method. [0003] So far, there have been a large number of research reports on UAV-based positioning and global coverage path planning algorithms, but...

AI Technical Summary

Problems solved by technology

[0003] So far, there have been a large number of research reports on UAV-based positioning and global coverage path planning algorithms, but their research is relatively independent

In the past, the global coverage path planning algorithm was mainly aimed at the path planning of a single UAV. Considering the cost and efficiency issues, it is difficult for a single UAV to complete the assigned tasks. Therefore, the collaborative work of multiple UAVs has become a recent Research Hotspots

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