High-energy-efficiency cooperative area detection method for unmanned ship

Abstract

The invention provides a high-energy-efficiency cooperative area detection method for an unmanned ship. The method comprises the steps that an advancing mode based on an Archimedes spiral is adopted for the unmanned ship to serve as a main body movement mode in an area; regular hexagon-based sub-region division is carried out on the to-be-detected region, and an obstacle region and a free region are divided; and task area distribution is carried out on each unmanned ship, and respective advancing routes are planned. According to the invention, an advancing mode based on an Archimedes spiral isadopted, so that the unmanned ship always advances at a constant speed in a subarea detection process. According to the invention, regular hexagon-based sub-region division is carried out on the to-be-detected region, so that the unmanned ship has a relatively high coverage rate on the basis of Archimedes spiral advancing. The invention provides a task area distribution mode based on energy consumption balance, so that the task area size of each unmanned ship is equivalent to the greatest extent, and the energy consumption of the unmanned ship is ensured to be balanced as much as possible.

Description

technical field [0001] The invention belongs to the technical field of mobile robot area coverage, and relates to a method for area coverage and task allocation in the process of cooperative detection of unmanned boats. Background technique [0002] With the continuous development of modern science and technology, robot technology has also developed rapidly since it came out in the early 1960s, and has been widely used in many fields, greatly improving work efficiency. The emergence of robot technology has not only changed the traditional industrial production model, but also had a great impact on human life. At present, with the gradual maturity of robot technology, robots with specified tasks have begun to enter the stage of practical application research. As a kind of water robot, unmanned vehicle has been fully applied in fields such as resource exploration, environmental monitoring, and water survey due to its intelligent advantages. The government regards the develop...

AI Technical Summary

Problems solved by technology

[0007] In view of the inability of large unmanned boats to perform detection tasks in shallow water areas or narrow water environment, and the limitation of energy consumption not considered in the current area coverage of mobile robots, in order to achieve the preliminary detection of the given coverage requirements of the area to be measured, the patent of the present invention proposes A high-energy-efficiency cooperative area detection method for unmanned boats, which solves the three-part problem of the movement mode of the main body in the area, the way of area division, and the allocation method for multi-unmanned boat task areas on this basis

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