Coverage search for UUV in unknown underwater environments

Yiming Chen; Sheng Li; Wucheng Zhou

doi:10.1117/12.2661629

9 December 2022 Coverage search for UUV in unknown underwater environments

Yiming Chen, Sheng Li, Wucheng Zhou

Proceedings Volume 12492, International Workshop on Automation, Control, and Communication Engineering (IWACCE 2022); 124920R (2022) https://doi.org/10.1117/12.2661629
Event: International Workshop on Automation, Control, and Communication Engineering (IWACCE 2022), 2022, Wuhan, China

Abstract

Aiming at the problem of coverage search for Unmanned Underwater Vehicle (UUV) in unknown underwater environments, this paper proposes South-First (SF) coverage algorithm based on the scanning line. A template-based patrol marking method is proposed to solve the problem of marking obstacles. For the deadlock situation, a backtracking mechanism is established, and the improved A* algorithm is used to plan the escape path from the dead point to the backtracking point. Simulation experiments show that SF algorithm can complete the coverage search of the unknown area, and the generated path have less steering times, which is suitable for UUV coverage search.

Citation Download Citation

Yiming Chen, Sheng Li, and Wucheng Zhou "Coverage search for UUV in unknown underwater environments", Proc. SPIE 12492, International Workshop on Automation, Control, and Communication Engineering (IWACCE 2022), 124920R (9 December 2022); https://doi.org/10.1117/12.2661629

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available