一种多水下机器人海底区域协同搜索方法
By dividing the search for seabed targets into sub-regions and setting up electronic fences, generating parallel survey lines, and dynamically scheduling AUVs to work together, the problems of insufficient efficiency and continuity in the search for seabed targets were solved, and efficient and reliable search for seabed targets was achieved.
CN122072485BActive Publication Date: 2026-07-17SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
- Filing Date
- 2026-04-21
- Publication Date
- 2026-07-17
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Figure CN122072485B_ABST
Abstract
本申请提供了一种多水下机器人海底区域协同搜索方法，涉及海底目标自主搜索技术领域。该方法包括：依据通信距离约束将任务区域划分为多个子区域并设定电子围栏；在每个子区域内生成平行测线，并按取模原则为从属AUV分配测线任务，实现等负载分工；各从属AUV执行任务并将目标信息传输至主控平台；主控平台基于目标信息评估各子区域进度状态，动态调度从属AUV协同工作；当目标置信度达标时，插入复核取证任务；针对通信异常、越界或低能量等异常，执行应急策略并在异常恢复后统一重规划。本申请通过通信约束下的协同作业框架，实现了大范围海域下覆盖完整、连续作业与目标精准搜索的平衡，提升了作业效率与可靠性。
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