基于探测势场的多无人水面艇协同覆盖路径规划方法、程序、设备及存储介质
By proposing a collaborative coverage path planning method for multi-unmanned surface vessels to detect potential fields, the problems of spatiotemporal nonuniformity of detection effectiveness and dynamic adaptability of path planning in complex marine environments are solved. This method achieves efficient and adaptive coverage path planning and enhances the collaborative search capability of multiple platforms.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HARBIN ENGINEERING UNIVERSITY SANYA NANHAI INNOVATION & DEVELOPMENT BASE
- Filing Date
- 2026-05-13
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies fail to effectively consider the time-varying and spatial-varying nature of detection performance in complex marine environments, simplify the characterization of coverage status, and separate detection performance from motion decision-making, resulting in a lack of dynamic adaptability in path planning and insufficient multi-platform collaborative search capabilities.
A collaborative coverage path planning method 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 of digital pheromones is dynamically controlled to construct an adaptive digital detection potential field. The gradient direction of the potential field is introduced to guide the motion control of the unmanned surface vessels, so as to realize real-time perception of the global coverage status.
It achieves high-fidelity, continuous detection performance evaluation and path planning, eliminates blind spots, improves the efficiency and dynamic adaptability of multi-platform collaborative coverage, and ensures efficient matching of the unmanned surface vessel's movement direction with areas lacking sea coverage.
Smart Images
Figure CN122192330B_ABST