Amphibious unmanned platform autonomous target searching and guiding planning method and system

Abstract

The invention discloses an autonomous target searching and guiding planning method for an amphibious unmanned platform, relates to the technical field of amphibious unmanned platform guiding planning, and aims to solve the problem that an efficient autonomous target searching and guiding planning method for the amphibious unmanned platform is lacked in the prior art. Comprising the following steps: step 1, firstly loading information of a region, then segmenting the region, enabling the longest side of a sub-region to be as long as possible in the segmentation process, and finally distributing the region of the multi-habitat unmanned platform; step 2, performing detection path planning by taking the minimum turning times and the shortest total distance as targets, performing regional target detection by the amphibious unmanned platform according to the detection path, and recording detected suspected targets; the exploration parameters are initialized, an exploration constraint range considering a margin value is determined, an exploration path is planned, the amphibious unmanned platform carries out regional target exploration according to the exploration path, and features of a suspected target are determined; and step 3, if the target is not detected, carrying out secondary confirmation according to the existing suspected target record.

Description

Technical Field

[0001] The present invention relates to the technical field of guidance planning for amphibious unmanned amphibious platforms, and in particular to an autonomous target search and guidance planning method and system for amphibious unmanned amphibious platforms. Background Art

[0003] When amphibious unmanned platforms perform tasks in unknown waters, they need to search the entire area in the shortest possible time. Most amphibious unmanned platforms do not have online identification capabilities. They usually use sonar to collect and store suspected target data. After the amphibious unmanned platform is recovered, it will go into the water to perform the corresponding tasks after confirming the suspected target through manual identification and intervention. Therefore, improving the online identification capability of amphibious unmanned platforms and performing efficient task replanning after discovering suspected targets are important research directions for autonomous target search and guidance planning of amphibious unmanned platforms, which will help further improve target search efficiency and target search accuracy, and improve the intelligence level of amphibious unmanned platforms. Summary of the invention

[0004] The technical problems to be solved by the present invention are:

[0005] The existing technology lacks efficient autonomous target search and guidance planning methods for amphibious unmanned platforms.

[0006] The present invention adopts the following technical solutions to solve the above technical problems:

[0007] The present invention provides an autonomous target search and guidance planning method for an amphibious unmanned platform, comprising the following steps:

[0008] Step 1: assigning tasks to amphibious unmanned platforms, including: firstly, loading information of the area, then segmenting the area, making the longest side of the sub-area as long as possible during the segmentation process, and finally assigning the area to the amphibious unmanned platform;

[0009] Step 2: Target detection: The detection path is planned with the goal of minimizing the number of turns and the shortest total distance, and full regional coverage is achieved. The amphibious unmanned platform detects regional targets according to the detection path and records the detected suspected targets.

[0010] Target detection: Initialize detection parameters, determine the detection constraint range considering the margin value, plan the detection path, and the amphibious unmanned platform will perform regional target detection according to the detection path to determine the characteristics of suspected targets;

[0011] Step 3: If the target is not detected, perform a second confirmation based on the existing suspected target records.

[0012] Furthermore, the target detection in step 2 includes the following processes:

[0013] (1) Plan the detection path with the goal of minimizing the number of turns and the shortest total distance, and detect targets in the area according to the detection path;

[0014] (2) Determine whether the target is currently detected. If the target is detected, analyze the current path point and the next path point to determine whether obstacle avoidance is required. If obstacle avoidance is not required, continue to traverse along the path points; if obstacle avoidance is required, generate a new path point to bypass the obstacle;

[0015] (3) Traverse all path points in the area until the detection task is completed.

[0016] Furthermore, the target exploration in step 2 includes the following processes:

[0017] (1) Initialize the agent position, static target position, expected exploration angle, and exploration times;

[0018] (2) setting a margin value and determining a range of exploration constraints that takes the margin value into account;

[0019] (3) constructing an exploration path for the amphibious multi-functional unmanned platform, including: first, calculating a position entering the exploration range according to a desired exploration angle, then determining a tangent point between a current position of the intelligent agent and a circle with a static target as a center and an effective exploration distance as a radius, calculating a set of path points from the tangent point to a position expected to enter the exploration range, and finally determining an exploration path for the amphibious multi-functional unmanned platform; and performing exploration according to the exploration path;

[0020] (4) regenerate a new detection angle and repeat step (3) until a preset number of detections is reached;

[0021] (5) Calculate the heading and time of each path point, and finally output the location information of the suspected target point, and the process ends.

[0022] Furthermore, in step (3) of target exploration, the process of constructing the exploration path of the amphibious unmanned platform is specifically as follows:

[0023] First, the current position of the multi-habitat unmanned platform (x a ,y a ) as the starting point, and move towards the static target position (x 0 ,y 0 ) is a tangent to the circle of the effective exploration distance, and the coordinates of the tangent point are (x t ,y t );The distance between the multi-roofed unmanned platform and the static target is d, and the angle between the line and the horizontal direction is θ 1 The angle between the tangent line and the connecting line of the effective detection range of the multi-route unmanned platform and the static target is θ 2 ; Assume the effective detection range radius is r valid, set the margin to r margin , then the final static target detection range radius r range ,satisfy:

[0024] r range =r valid +r margin

[0025] The angle θ between the line connecting the multi-roofed unmanned platform and the static target and the horizontal direction 1 for:

[0026]

[0027] The angle θ between the tangent and the connecting line of the effective detection range of the multi-functional unmanned platform and the static target 2 for:

[0028]

[0029] The coordinates of the tangent point are (x t ,y t )for:

[0030]

[0031] According to the desired detection angle θ 0 Calculate the position within the effective detection range that the multi-terrestrial unmanned platform can directly enter at the edge of the effective detection range:

[0032]

[0033] According to the known tangent point coordinates (x t ,y t ), the angle of the tangent point coordinates relative to the static target is:

[0034]

[0035] The angle θ of the tangent point coordinates relative to the static target t 、Static target detection angle θ 0 Calculate a circular arc discretized into path nodes:

[0036]

[0037] After the multi-roofed unmanned platform reaches the entry position of the effective detection range, it will sail towards the static target at a specified course for a specified time according to the approach angle. The approach position coordinates (x inside ,y inside )for:

[0038]

[0039] In the formula, ld is the distance l traveled to the static target during the exploration process d ;

[0040] Similarly, the path node coordinates of the multi-terrestrial unmanned platform when it ends the exploration mission and leaves the effective exploration range of the static target are:

[0041]

[0042] With (x inside ,y inside ) as the starting point, with (x away ,y away ) to construct an exploration path for the endpoint.

[0043] Furthermore, in step (4) of target detection, the desired heading is increased by 15 degrees to regenerate a new detection angle.

[0044] A system for autonomous target search and guidance planning based on an amphibious unmanned platform. The system has a program module corresponding to the steps of the method described in any of the above technical solutions, and executes the steps in the above-mentioned method for autonomous target search and guidance planning for an amphibious unmanned platform during operation.

[0045] A computer-readable storage medium storing a computer program, wherein the computer program is configured to implement the steps of the autonomous target search and guidance planning method for an amphibious unmanned platform described in any one of the above-mentioned technical solutions when called by a processor.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The present invention discloses an autonomous target search and guidance planning method for an amphibious unmanned platform. In the process of dividing an area, the uniformity of each area is ensured as much as possible and the longest side of the sub-area is made as long as possible relative to other sides, so as to ensure that the straight section of the path of the amphibious unmanned platform is as long as possible, and the path planning is carried out with the minimum number of turns and the shortest total distance as the goal. In the process of allocating areas by the amphibious unmanned platform, each platform first goes to the allocated area with the shortest distance, and similarly matches the next area until the amphibious unmanned platform is matched with all the sub-areas, finally realizing efficient path planning of the amphibious unmanned platform, and laying a foundation for improving the platform search efficiency and target search accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A flow chart of a region segmentation algorithm in an embodiment of the present invention;

[0049] Figure 2 Schematic diagram of the full-area coverage detection method of the amphibious unmanned platform in an embodiment of the present invention;

[0050] Figure 3 Schematic diagram of the direction of the dividing line of the area to be detected in an embodiment of the present invention;

[0051] Figure 4 Schematic diagram of the intersection of the dividing line and the remaining edges in an embodiment of the present invention;

[0052] Figure 5 This is a schematic diagram of the matching between the amphibious unmanned platform and the area in an embodiment of the present invention;

[0053] Figure 6 A schematic diagram of the traversal of sub-area path points in an embodiment of the present invention;

[0054] Figure 7 This is a schematic diagram of the traversal of sub-area binding path points in an embodiment of the present invention;

[0055] Figure 8 A schematic diagram of traversal of different bound road segment vertices in an embodiment of the present invention;

[0056] Fig. 9 Schematic diagram of a method for determining a starting point of an amphibious unmanned platform in an embodiment of the present invention;

[0057] Fig.10 A schematic diagram of path planning for an amphibious unmanned platform in an embodiment of the present invention;

[0058] Fig.11 is a tangent diagram of the effective detection range in an embodiment of the present invention;

[0059] Fig.12 It is a schematic diagram of the entry position of the amphibious unmanned platform into the edge of the effective detection range of static targets in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the scheme of the present invention, exemplary implementations or embodiments of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the described implementations or embodiments are only implementations or embodiments of a part of the present invention, not all of them. Based on the implementations or embodiments of the present invention, all other implementations or embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present invention.

[0061] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0062] The present invention provides an autonomous target search and guidance planning method for an amphibious unmanned platform, comprising the following steps:

[0063] Step 1: Allocate tasks to amphibious unmanned platforms, including: first loading the information of the area, then segmenting the area, making the longest side of the sub-area as long as possible during the segmentation process, and finally allocating the amphibious unmanned platform area.

[0064] like Figure 1 As shown, the area is segmented, that is, the area vertex list list_aera is loaded, the adjacent vertex distance list list_dis is calculated, the longest edge egde and the corresponding highest vertex piont_h are found, the relative position of egde and piont_h is determined, the direction of the dividing line deal_h is determined, and the intersection point i_point of the parallel dividing line deal_h and the remaining edges is adjusted to see whether the intersection point i_point is within the definition domain of the remaining edges. Each dividing line gets a pair of endpoints (x, y), and the endpoint pair matrix is ​​output.

[0065] When a single multi-role unmanned platform performs full coverage area detection and performs back-and-forth movement parallel to a given heading direction, the number of turns is directly related to the coverage time of a given area, such as Figure 2 As shown. The coverage direction affects the height perpendicular to the polygon area, which affects the number of turns and changes the coverage time of a given area. Therefore, in order to improve the efficiency of regional detection, it is necessary to find the optimal coverage direction, that is, the minimum height perpendicular to the polygon area. In this direction, the area can be covered by the least number of rows, so the coverage time is the shortest and the efficiency is the highest.

[0066] Assume that the direction of the segmentation line of the area to be detected is as follows Figure 3 As shown:

[0067] The calculation formula for the distance D between the dividing line and line segment AB is as follows:

[0068]

[0069] The relationship between the translation direction of the dividing line, D and the slope k of the longest side is shown in Table 1:

[0070] Table 1

[0071] k does not exist, D>0 Shift Right k does not exist, D<0 Shift Left D>0,k>0 Move right, move down D>0,k<0 Move right, move up D<0,k>0 Move left, move up D>0,k<0 Move left, move down D<0,k=0 Move Up D>0, k=0 Move Down

[0072] The intersection of the dividing line and the remaining edges is Figure 4 As shown:

[0073] It can be seen that the intersection points of one of the cutting lines Line and the other edges are P1, P2, P3, and P4 respectively. The intersection points P1 and P2 are not in the definition domain of line segments CD and CE:

[0074]

[0075] The dividing line Line only intersects with line segments AD and BE at points P3 and P4. According to the above relationship, the intersection points of all cutting lines and the remaining edges are found, and the area division is completed.

[0076] The first step in area allocation is to calculate the distance dis between area j and multi-habitat unmanned platform i ji , through the form of traversal, select the minimum distance mindis ji After the selection is completed, the selected area j is matched with the multi-habitat unmanned platform i, and cannot participate in the subsequent area matching. Figure 5 As shown:

[0077] Find the distance dis ij :

[0078]

[0079] If dis1 is the smallest, the multi-amphibious platform matches area 1, and the multi-amphibious platform in the subsequent matching areas 2 and 3 shall not participate in completing a match until the multi-amphibious unmanned platform and all sub-areas are matched.

[0080] Step 2: Target detection: Plan the detection path with the goal of minimizing the number of turns and the shortest total distance, and achieve full regional coverage. The amphibious unmanned platform conducts regional target detection according to the detection path and records the suspected targets detected.

[0081] The planning of the detection path for the amphibious unmanned platform includes the following processes:

[0082] For the reorganized sub-region, the path point traversal is as follows: Figure 6 As shown in the figure, the conditions that need to be met during the detection process of a single amphibious unmanned platform are to achieve full coverage of the area and to find the path with the least number of turns and the shortest total distance as much as possible.

[0083] In order to reduce the number of turns, the intersection of the cutting line and the area is bound, that is, path points 2 and 3 are bound, 4 and 5 are bound, 6 and 7 are bound, and 8 and 9 are bound. These path segments constitute the path segments that must be traversed. The traversal of the sub-area bound path points is as follows Figure 7 shown.

[0084] The path traversal from the middle binding segment to the outer binding segment is as follows Figure 8 As shown by Figure 8 (a) with Figure 8 (b) By comparison, it can be seen that taking the middle binding segment endpoint as the traversal starting point will result in an extra path. Compared with taking the outbound binding segment endpoint as the traversal starting point, it can meet the requirements of full area coverage and shortest path.

[0085] For the matched multi-purpose unmanned platform and detection area, first calculate the distance between the outer endpoint of the area and the multi-purpose unmanned platform. Select the endpoint corresponding to the shortest distance as the starting point.

[0086] During the detection process, the path point selection of the multi-route unmanned platform is based on a pair of endpoints. If the current path point of the multi-route unmanned platform is one of the endpoints in a pair, the next path point is set to the other endpoint of the endpoint pair. Fig. 9 In the example, if the current path point of the multi-habitat unmanned platform is endpoint A, the next path point is endpoint B; when the multi-habitat unmanned platform has traversed this pair of endpoints, the next path point will select one of the endpoints in the new endpoint pair. The path point is selected based on the shortest distance between the current endpoint and the new endpoint pair, and the cycle continues until all endpoint pairs have been traversed. Finally, the multi-habitat unmanned platform path point traversal is completed, such as Fig.10 shown.

[0087] Determine whether the target is currently detected. If the target is detected, the system passes the current path point and the next path point to the obstacle avoidance module and the collision module; the obstacle avoidance module and the collision module analyze the current path point and the next path point to determine whether obstacle avoidance is required; if obstacle avoidance is not required, continue to traverse along the current path point; if obstacle avoidance is required, the obstacle avoidance module generates a new path point to bypass the obstacle;

[0088] The platform traverses all path points in the area, completes the detection task, and the detection process ends.

[0089] Target detection: Initialize detection parameters, determine the detection constraint range considering the margin value, plan the detection path, and the amphibious unmanned platform will perform regional target detection according to the detection path to determine the characteristics of suspected targets, including:

[0090] (1) Initialize the agent position, static target position, expected exploration angle, and exploration times;

[0091] (2) setting a margin value and calculating the exploration constraint range considering the margin value;

[0092] (3) constructing an exploration path for the amphibious multi-functional unmanned platform, including: first, calculating a position entering the exploration range according to a desired exploration angle, then determining a tangent point between a current position of the intelligent agent and a circle with a static target as a center and an effective exploration distance as a radius, calculating a set of path points from the tangent point to a position expected to enter the exploration range, and finally determining an exploration path for the amphibious multi-functional unmanned platform; and performing exploration according to the exploration path;

[0093] The planning method of the exploration path of the amphibious unmanned platform is as follows: Fig.11 As shown, firstly, the current position of the multi-habitat unmanned platform (x a ,y a) as the starting point, and move towards the static target position (x 0 ,y 0 ) is a tangent to the circle of the effective exploration distance, and the coordinates of the tangent point are (x t ,y t );The distance between the multi-roofed unmanned platform and the static target is d, and the angle between the line and the horizontal direction is θ 1 The angle between the tangent line and the connecting line of the effective detection range of the multi-route unmanned platform and the static target is θ 2 ; Assume the effective detection range radius is r valid To prevent the amphibious unmanned platform from entering the effective detection range by mistake when approaching a static target, a margin r is set. margin , then the final static target detection range radius r range satisfy:

[0094] r range =r valid +r margin

[0095] The angle θ between the line connecting the multi-roofed unmanned platform and the static target and the horizontal direction 1 It is obtained by the following formula:

[0096]

[0097] The angle θ between the tangent and the connecting line of the effective detection range of the multi-functional unmanned platform and the static target 2 It is obtained by the following formula:

[0098]

[0099] The coordinates of the tangent point are (x t ,y t ) is obtained by the following formula

[0100]

[0101] like Fig.12 As shown, according to the desired detection angle θ 0 Calculate the position within the effective detection range that the multi-terrestrial unmanned platform can directly enter at the edge of the effective detection range:

[0102]

[0103] According to the known tangent point coordinates (x t ,y t ), the angle of the tangent point coordinates relative to the static target is:

[0104]

[0105] The angle θ of the tangent point coordinates relative to the static target t 、Static target detection angle θ 0Calculate a circular arc discretized into path nodes:

[0106]

[0107] After the amphibious unmanned platform reaches the entry position of the effective detection range, it will sail towards the static target at a specified course for a specified time according to the approach angle, with a detection speed v d , specify the exploration time t d and the distance l traveled to the static target during the exploration process d The relationship is:

[0108] l d =v d t d

[0109] The platform's approach position coordinates (x inside ,y inside )for:

[0110]

[0111] In the formula, l d is the distance l traveled to the static target during the exploration process d ;

[0112] Similarly, the path node coordinates of the multi-terrestrial unmanned platform when it ends the exploration mission and leaves the effective exploration range of the static target are:

[0113]

[0114] With (x inside ,y inside ) as the starting point, with (x away ,y away ) to construct an exploration path for the endpoint.

[0115] (4) Increase the desired heading by 15 degrees, regenerate a new exploration angle, and repeat step (3) until the preset number of explorations is reached;

[0116] (5) Calculate the heading and time of each path point, and finally output the location information of the suspected target point, and the process ends.

[0117] Step 3: If the target is not detected, perform a second confirmation based on the existing suspected target records.

[0118] The method (algorithm) for autonomous target search and guidance planning of an amphibious unmanned platform proposed in the present invention is the underlying technical core of the present invention, and various products can be derived based on the algorithm.

[0119] Based on the method proposed in the present invention, a system for autonomous target search and guidance planning for an amphibious unmanned platform is developed using a programming language. The system has program modules corresponding to the steps of the above-mentioned technical solution, and executes the steps in the above-mentioned method for autonomous target search and guidance planning for an amphibious unmanned platform during operation.

[0120] The computer program of the developed system (software) is stored on a computer-readable storage medium, and the computer program is configured to implement the steps of the above-mentioned amphibious unmanned platform autonomous target search and guidance planning method when called by a processor. That is, the present invention is materialized on a carrier to become a computer program product.

[0121] Various implementations of the systems and techniques described herein can be realized in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0122] The computer programs (also referred to as programs, software, software applications, or codes) of the present invention include machine instructions for programmable processors, and these computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or device (e.g., disk, optical disk, memory, programmable logic device PLD) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0123] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for autonomous target search and guidance planning for an amphibious unmanned platform, characterized in that: The steps include: Step 1: assigning tasks to amphibious unmanned platforms, including: firstly, loading information of the area, then segmenting the area, making the longest side of the sub-area as long as possible during the segmentation process, and finally assigning the area to the amphibious unmanned platform; Step 2: Target detection: The detection path is planned with the goal of minimizing the number of turns and the shortest total distance, and full regional coverage is achieved. The amphibious unmanned platform detects regional targets according to the detection path and records the detected suspected targets. Target detection: Initialize detection parameters, determine the detection constraint range considering the margin value, plan the detection path, and the amphibious unmanned platform will perform regional target detection according to the detection path to determine the characteristics of suspected targets; Step 3: If the target is not detected, perform a second confirmation based on the existing suspected target records.

2. The method for autonomous target search and guidance planning for an amphibious unmanned platform according to claim 1 is characterized in that: The target detection in step 2 includes the following processes: (1) Plan the detection path with the goal of minimizing the number of turns and the shortest total distance, and detect targets in the area according to the detection path; (2) Determine whether the target is currently detected. If the target is detected, analyze the current path point and the next path point to determine whether obstacle avoidance is required. If obstacle avoidance is not required, continue to traverse along the path points; if obstacle avoidance is required, generate a new path point to bypass the obstacle; (3) Traverse all path points in the area until the detection task is completed.

3. The method for autonomous target search and guidance planning for an amphibious unmanned platform according to claim 1 is characterized in that: The target exploration in step 2 includes the following processes: (1) Initialize the agent position, static target position, expected exploration angle, and exploration times; (2) setting a margin value and determining a range of exploration constraints that takes the margin value into account; (3) constructing an exploration path for the amphibious multi-functional unmanned platform, including: first, calculating a position entering the exploration range according to a desired exploration angle, then determining a tangent point between a current position of the intelligent agent and a circle with a static target as a center and an effective exploration distance as a radius, calculating a set of path points from the tangent point to a position expected to enter the exploration range, and finally determining an exploration path for the amphibious multi-functional unmanned platform; and performing exploration according to the exploration path; (4) regenerate a new detection angle and repeat step (3) until a preset number of detections is reached; (5) Calculate the heading and time of each path point, and finally output the location information of the suspected target point, and the process ends.

4. The method for autonomous target search and guidance planning for an amphibious unmanned platform according to claim 3 is characterized in that: The specific process of constructing the exploration path of the amphibious unmanned platform in step (3) of target exploration is as follows: First, the current position of the multi-habitat unmanned platform (x a ,y a ) as the starting point, draw a tangent to the circle of the effective detection distance of the static target position (x0, y0), and the coordinates of the tangent point are (x t ,y t ) ; the distance between the amphibious unmanned platform and the static target is d, the angle between the connecting line and the horizontal direction is θ1, and the angle between the tangent line and the connecting line of the effective detection range of the amphibious unmanned platform and the static target is θ2; let the radius of the effective detection range be r valid , set the margin to r margin , then the final static target detection range radius r range ,satisfy: r range ＝r valid +r margin The angle θ1 between the line connecting the multi-roofed unmanned platform and the static target and the horizontal direction is: The angle θ2 between the tangent and the connecting line of the effective detection range of the amphibious unmanned platform and the static target is: The coordinates of the tangent point are (x t ,y t )for: According to the expected detection angle θ0, the position where the amphibious unmanned platform can directly enter the effective detection range at the edge of the effective detection range is calculated: According to the known tangent point coordinates (x t ,y t ), the angle of the tangent point coordinates relative to the static target is: The angle θ of the tangent point coordinates relative to the static target t , the static target detection angle θ0 is calculated to obtain a circular arc discretized into path nodes: After the multi-roofed unmanned platform reaches the entry position of the effective detection range, it will sail towards the static target at a specified course for a specified time according to the approach angle. The approach position coordinates (x inside ,y inside )for: In the formula, l d is the distance l traveled to the static target during the exploration process d ; Similarly, the path node coordinates of the multi-terrestrial unmanned platform when it ends the exploration mission and leaves the effective exploration range of the static target are: With (x inside ,y inside ) as the starting point, with (x away ,y away ) to construct an exploration path for the endpoint.

5. The method for autonomous target search and guidance planning for an amphibious unmanned platform according to claim 3 is characterized in that: In step (4) of target detection, the desired heading is increased by 15 degrees to regenerate a new detection angle.

6. An autonomous target search and guidance planning system based on an amphibious unmanned platform, characterized in that: The system has a program module corresponding to the steps of the method described in any one of claims 1 to 5 above, and executes the steps in the above-mentioned amphibious unmanned platform autonomous target search and guidance planning method when running.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is configured to implement the steps in the autonomous target search and guidance planning method for an amphibious unmanned platform according to any one of claims 1 to 5 when called by a processor.

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