Unmanned surface vehicle cooperative formation-based underwater detection method

Abstract

The invention discloses an unmanned surface vehicle cooperative formation-based underwater detection method. The method specifically includes the following main processes that: a grid map is established based on environment information, and area coverage data detection is performed after unmanned surface vehicle formation is carried out; and when the current process is trapped in a dead zone or the current round of coverage terminates, a nearest uncovered area is searched, and a path by which unmanned surface vehicles can reach the area is planned, so that the unmanned surface vehicles can continue to execute a task, wherein each unmanned surface vehicle has an obstacle avoidance function and a solution to the malfunction of the unmanned surface vehicle. According to the method, the small-sized unmanned surface vehicles are adopted to perform detection and can freely navigate in a shallow water area; an unmanned surface vehicle formation method is adopted to perform detection, so thatdetection can be performed from different angles, misjudgment caused by angle limitations of a single unmanned surface vehicle itself and ultrasonic probes; water surface ultrasonic probes and underwater ultrasonic probes are adopted, so that an obstacle avoidance range is not limited to water surface obstacles, underwater obstacles can be also detected, and therefore, collision caused by underwater reef can be avoided; and when a certain unmanned surface vehicle suddenly fails, the other unmanned surface vehicles can re-plan a path to continue the task.

Description

Technical field [0001] The invention belongs to the technical field of robot path planning, and relates to an underwater detection method for unmanned ship cooperative formation. Background technique [0002] In today's world, science and technology are changing with each passing day, and robotics, as one of the emerging technologies, has also developed rapidly. Robot equipment mainly includes three types of sea, land and air, namely UAV, land robot and water robot. As a kind of water robot, unmanned ship can effectively avoid casualties and cut costs under harsh conditions due to its intelligent advantages, making it widely used in fields such as petroleum exploration, cargo transportation, weather monitoring, and water surveys. application. my country is rich and vast, with numerous rivers and seas, and abundant resources. It is a strategic space with development potential. Therefore, the government has made Haihe River development one of the key strategies for social develo...

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Problems solved by technology

[0003] For shallow waters such as coastal waters and lakes, there are currently some problems in the survey of unmanned ships: due to the large transmission power of the detection equipment for deep water exploration, large unmanned ships are bulky and heavy with

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