A multi-bay area path traversal method and system based on an unmanned surface vehicle

Abstract

The invention discloses a multi-bay area path traversal method and system based on an unmanned surface vehicle. In this method, the unmanned surface vehicle travels along a zigzag path. During the process, radar is used to scan in real time whether there is a bay around the unmanned surface vehicle. If the bay is on the traveling side of the unmanned surface vehicle, the bay is determined as a repeated bay; otherwise, the bay is determined as a missing bay, and the grid that intersects the bay and is closest to the unmanned surface vehicle is selected , the intersection of the raster and the bay is determined as the entry point for a missing bay or the exit point for a duplicate bay. After a missing bay is detected, it can be traversed by entering the missing bay from its entry point. After traversing the repeated bay, exit directly from the exit point of the repeated bay. The invention not only avoids repeated traversal of bays, but also avoids omission of bays.

Description

technical field [0001] The present invention relates to the technical field of path traversal in multi-bay areas, in particular to a multi-bay area path traversal method and system based on an unmanned surface vehicle. Background technique [0002] Multi-bay terrain refers to a closed area with more than two bays, and this kind of terrain mostly exists in island reef seas and deep-sea complex topography areas. [0003] When unmanned surface vehicles search in open waters, the conventional traversal method is to choose the zigzag path planning method with a small amount of calculation to obtain the hydrological information of the relevant waters. Using this simple zigzag search method can achieve the expected coverage and short range for the terrain with two-dimensional regular boundaries, such as figure 1 , select a boundary close to the search water area as the starting point S p , establish a rectangular coordinate system, and use the grid method to establish a mission e...

AI Technical Summary

Problems solved by technology

[0005] When there are many bays in the search water area, the simple zigzag path planning will lead to missing or repeated searches

like figure 2 , the unmanned surface vehicle from S p point start, use figure 1 The behavior shown is to search, and after searching the middle area, enter I 2 area, after searching I 2 After the area, the USV will follow the I 2 The gridlines in the area return before entering the I 3 area, after searching I 3 After the area will be found: Throughout the search I 2 Region repeats the search while I 1 area is missing

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