Research on Complete Coverage Path Planning for Unmanned Surface Vessel

3rd International Symposium on Resource Exploration and Environmental Science

生态环境科学

Zhang, Qi^1 ; Li, Cunrong^1 ; Lu, Xin^1 ; Huang, Shenshen^1

School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan

430070, China^1

关键词: Complete coverages;    Monitoring points;    Path length;    Research object;    Running time;    Solution model;    Unmanned surface vessels;    Visual studios;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/300/2/022037/pdf
DOI  :  10.1088/1755-1315/300/2/022037

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

In order to monitor the water quality in real time, all monitoring points should be covered by Unmanned Surface Vessel (USV). This paper takes the USV as the research object and proposes an improved genetic algorithm to solve the complete coverage path planning (CCPP) problem to ensure that the USV can cover all monitoring points, and minimize the path length, the rate of repeat grid and running time of the algorithm. The feasibility of this solution model is verified by simulation on the platform of Visual Studio.