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
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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

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  • 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

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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...

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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 field of path planning algorithm and coverage path planning algorithm, and more specifically, relates to a single unmanned boat coverage path planning method based on Theta* backtracking. Background technique [0002] At present, the coverage path of unmanned boats is mainly divided into point-to-point path planning and coverage path planning for the whole area. Commonly used methods for path planning include A* algorithm, artificial potential field method, genetic algorithm, ant colony algorithm, neural network algorithm, etc. The coverage planning method often decomposes the task area, and the common unit decomposition methods include trapezoidal decomposition method, Boustrophedon decomposition method, Morse decomposition method and Voronoi decomposition method. [0003] However, in a complex environment, decomposing the region will lead to a substantial increase in the repetition rate of path traversal, and u...

Claims

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Application Information

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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
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