基于电子海图的无人艇集群区域覆盖路径规划

Area coverage path planning of multiple ASVs based on ECDIS

[目的]针对无人艇(ASV)集群区域覆盖问题,设计一种基于电子海图信息系统(ECDIS)的多无人艇区域覆盖路径规划方法。[方法]首先,通过提取ECDIS中的海陆和水深信息,建立基于栅格化方法的无人艇集群覆盖区域环境模型。其次,提出一种基于轮盘选择法的区域划分方法,解决基于初始位置的区域划分方法区域划分不规则的问题,实现在栅格地图中对无人艇集群覆盖子区域的合理划分。最后,构建一种基于模板法的区域覆盖路径规划方法,解决生成树覆盖方法路径转弯数量较多的问题。[结果]搭建基于ECDIS的无人艇集群人机交互仿真平台,验证所提基于轮盘法和模板法的区域覆盖路径规划方法对优化规划路径转弯数量的有效性。[结论]采用所提基ECDIS的无人艇集群区域覆盖路径规划方法,实现多无人艇对海上目标任务区域的覆盖路径规划。

[Objective]Aiming at the area coverage problem of multiple autonomous surface vehicles(ASVs),this paper investigates a coverage path planning(CPP)strategy based on an electronic chart display and information system(ECDIS).[Method]First,according to the information of sea,land and water depth from ECDIS,an environmental model for the area coverage of ASVs is established based on the grid method.Second,an area division method based on the roulette wheel selection method is proposed to solve the problem of irregular area division in divided areas based on the robots'initial position method,and achieve the reasonable area division of ASVs in the grid map.Finally,a template-based area coverage path planning method is proposed to solve the problem of generating too many turns in paths generated by the spanning tree coverage agorithm.[Results]A human-machine interactive simulation platform for ASVs based on ECDIS is established to verify the effectiveness of the proposed area coverage path planning method based on the roulette wheel method and template method in optimizing the number of turns in the planning path.[Conclusion]The proposed area coverage path planning method for ASVs based on ECDIS can be used to achieve coverage path planning in target mission areas at sea.