基于内螺旋覆盖算法的多AUV协作反水雷路径规划研究

Path Planning of Multiple AUVs for Cooperative Mine Countermeasure Using Internal Spiral Coverage Algorithm

研究了多自主水下航行器AUVs(Autonomous Underwater Vehicles)协作扫雷的路径规划问题;在环境栅格表达的基础上,采用一种优化的内螺旋覆盖算法,通过航行器对工作海域扫描情况的在线判断来确定扫描路径,以及扫描结束后对地图"盲区"进行再搜索等关键技术,保证了对工作区域的完全覆盖搜索和达到以较小的重复覆盖率搜索海域的目的;仿真实验结果表明,只要灭雷航行器数量大于水雷数量并且至少有一台灭雷AUV可以正常工作就可以实现完全覆盖。

This paper addresses a cooperative navigation algorithm for multiple AUVs（Autonomous Underwater Vehicles） in an unknown marine area to realize the coverage mine searching with obstacle avoidance based on the grid environment.Each vehicle makes out the next step according to the instruction of the supervisor and after the moving step,gives the new environment information back to the supervisor for calculation.The AUV in good working condition would re-search the＂blind spot＂after the scanning of the map to ensure complete coverage searching.Simulation results show that the complete coverage searching can be reached if only the number of AUVs is larger than that of mines.