Abstract
This paper solves the problem of cooperative path planning of multiple unmanned surface vehicles (USVs) for search and coverage tasks in water environments. Firstly, taking the search coverage problem of water surface pollutants as an example, the information concentration map is built to predict the diffusion of water surface pollutants. Secondly, we propose a region division method based on a Voronoi diagram, which divides the region and assigns it to each unmanned surface vehicle (USV). Then, on the basis of the traditional Model Predictive Control (MPC), the future reward index based on the regional centroid is introduced, and the Improved Salp Swarm Algorithm (ISSA) is used to solve MPC. Simulation results show the effectiveness of the proposed method.
Funder
National Natural Science Foundation of China
Subject
Artificial Intelligence,Computer Science Applications,Aerospace Engineering,Information Systems,Control and Systems Engineering
Cited by
7 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献