Multi-unmanned surface vehicle cooperative coverage path planning method based on detection potential field, program, equipment and storage medium

By adopting a multi-unmanned surface vessel collaborative coverage path planning method based on the detection potential field, the problems of spatiotemporal nonuniformity of detection effectiveness and dynamic representation of coverage status in complex marine environments are solved, achieving efficient and adaptive path planning and improving the multi-platform collaborative search capability.

CN122192330APending Publication Date: 2026-06-12HARBIN ENGINEERING UNIVERSITY SANYA NANHAI INNOVATION & DEVELOPMENT BASE +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HARBIN ENGINEERING UNIVERSITY SANYA NANHAI INNOVATION & DEVELOPMENT BASE
Filing Date
2026-05-13
Publication Date
2026-06-12

AI Technical Summary

Technical Problem

Existing technologies cannot effectively consider the time-varying and spatial-varying nature of detection performance in complex marine environments. Simplified coverage status characterization cannot accurately reflect the differences in coverage requirements in different regions. Furthermore, the separation of detection performance and motion decision-making leads to a lack of dynamic adaptability in path planning and insufficient multi-platform collaborative search capabilities.

Method used

A collaborative coverage path planning method for multiple unmanned surface vessels based on the detection potential field is adopted. By combining a four-dimensional joint detection probability calculation model with acoustic calculation and three-dimensional mesh mapping, the release and propagation of digital pheromones are dynamically controlled to construct an adaptive digital detection potential field. The potential field gradient direction information is introduced into the improved IHS-ABC algorithm to guide the motion control of the unmanned surface vessels.

Benefits of technology

It has achieved high-fidelity, all-time, and all-space dynamic detection performance evaluation, ensuring efficient matching of the unmanned surface vessel's movement direction with areas lacking marine coverage, and improving the planning efficiency and coverage of multi-platform collaborative coverage paths.

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Abstract

The present application belongs to the technical field of underwater target search, and particularly relates to a multi-unmanned surface vehicle cooperative coverage path planning method based on a detection potential field, a program, an equipment and a storage medium. The present application introduces an acoustic calculation model through a four-dimensional joint detection probability calculation model, combines three-dimensional grid mapping and rank K information fusion mechanism, and accurately solves the non-uniform detection probability in space and time caused by complex sound propagation physical effects. Through real-time sensing of the joint detection results of the unmanned surface vehicle cluster, the release coefficients of the two types of digital pheromones, attraction and repulsion, are dynamically regulated, and combined with the diffusion and evaporation mechanism of the space-time dimension, an adaptive digital detection potential field evolving synchronously with the detection process is generated. The spatial gradient direction information of the detection potential field is introduced into the IHS-ABC algorithm, which provides direction guidance for the cooperative search process of the unmanned surface vehicle motion control parameters, and ensures the efficient matching of the unmanned surface vehicle motion direction and the sea coverage deficiency area.
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