The invention discloses a topological communication coverage path
planning method and
system of an unmanned ship cluster for wide-area target search and detection, and belongs to the technical field of multi-agent collaborative path planning. According to the method, turning frequency optimization is converted into a minimum rectangular coverage problem, an
integer programming model is established, a layered relaxation
integer programming acceleration strategy based on maximum extension candidates is proposed, and the
bottleneck of
model expansion and calculation efficiency caused by candidate solution space explosion in a large-scale scene is broken through; then, constructing a rectangular topological connected graph, designing an improved
spectral clustering algorithm fusing load balancing constraint and subgraph
connectivity guarantee, realizing efficient and balanced distribution of regions in a complex environment, and ensuring internal
connectivity of subregions; and finally, providing a dynamic
pruning optimization method for the minimum corner
spanning tree based on strong and weak connection characteristics, iteratively evaluating the corner cost and removing redundant edges, and finally generating a coverage path
spanning tree with the minimum corner cost, thereby providing an accurate and efficient full-coverage operation path for scenes such as regional exploration and environment monitoring.