Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Single unmanned ship coverage path planning method based on Theta* backtracking

A single unmanned boat, covering the path technology, applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control and other directions, can solve the problem of the path is not smooth enough, does not meet the navigation practice and so on

Pending Publication Date: 2021-09-10
WUHAN UNIV OF TECH
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in a complex environment, decomposing the region will lead to a significant increase in the repetition rate of the path, and the use of the A* algorithm will make the path not smooth enough, which is not in line with navigation practice

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Single unmanned ship coverage path planning method based on Theta* backtracking
  • Single unmanned ship coverage path planning method based on Theta* backtracking
  • Single unmanned ship coverage path planning method based on Theta* backtracking

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0026] like figure 1 Shown is a schematic flow chart of a single unmanned boat coverage path planning method provided by an embodiment of the present invention, and the technical solution of the present invention is as follows:

[0027] like image 3 As shown, the black area is the obstacle, the white area is the feasible sea area, the black solid line is the single unmanned boat path, and the...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a coverage path planning method based on Theta* backtracking, and belongs to the technical field of path planning algorithms and coverage path planning algorithms, wherein the method comprises the steps: rasterizing an environment map, enabling a single unmanned ship to start roundabout scanning measurement according to the priority of the south-east-north-west direction, returning to the original path to continue scanning measurement if the single unmanned ship enters a Credial point until reaching the east side of the environment map; and calculating an optimal backtracking point, searching an optimal backtracking path by using a Theta* algorithm, and carrying out backtracking coverage on a missing region until all regions are covered. According to the invention, the backtracking path of the single unmanned ship is smoother, and the steering frequency is less.

Description

Technical field [0001] The invention belongs to the technical fields of path planning algorithms and coverage path planning algorithms. More specifically, it relates to a single unmanned vehicle coverage path planning method based on Theta* backtracking. Background technique [0002] At present, unmanned boat coverage paths are mainly divided into point-to-point path planning and coverage path planning for the entire area. Commonly used methods for path planning include A* algorithm, artificial potential field method, genetic algorithm, ant colony algorithm, neural network algorithm, etc. Coverage planning methods often decompose task areas. Commonly used unit decomposition methods include ladder decomposition, Boustrophedon decomposition, Morse decomposition and Voronoi decomposition. [0003] However, in complex environments, decomposing areas will lead to a significant increase in the traversal repetition rate of the path, and using the A* algorithm will make the path no...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 马勇王京严新平
Owner WUHAN UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com