Coverage path planning method for multiple unmanned surface mapping vehicles

Abstract

Disclosed is a coverage path planning method for multiple unmanned surface mapping vehicles, comprising: simultaneously creating submaps and an overall map; outputting its own position information and obstacle information, transmitting to and updating defining a behavior strategy list (BS); determining the BS with priority for path planning, outputting a to or th state if any criterion is satisfied; when trapped in a local optimum, updating map layers layer-by-layer going upwards, searching for tp in the corresponding layers, performing a BS determination, and outputting a tr instruction; if no target point is found even at the highest layer, checking each CS∈{FN,UFN}, and determining a termination. As such, the coverage rate and coverage effect of multiple unmanned surface mapping vehicles in a complex environment can be increased, thus increasing the operational efficiency of the unmanned surface mapping vehicles.