Research On Unmanned Surface Vehicle Auto Sweep Survey Path Planning In Complex Ocean Environment

The sweep survey operations are the detection process of the target waters terrain.The traditional sweep survey operations are carried out by ships carrying marine exploration equipment.Due to the harsh marine environment,the work intensity and cost are very high,the unmanned vehicles are used for sweep survey to save a lot of costs and to improve efficiency.In particular,the suitability of the unmanned surface ships(USV)for shallow water navigation areas and the availability of communication and control are expected to be widely used in future sweep survey operations.However,the impact of wind,waves and ocean current on the USV can't be ignored,so the autonomous sweep survey in the impact of the wind,waves,flow,and submarine terrain becomes inevitable.In this paper,we study the characteristics of USV path planning,single area coverage and multi-area coverage path planning considering the above factors in USV sweep survey operations.The corresponding mathematical methods are constructed,the effectiveness and feasibility of the proposed method is verified by simulation test.This paper mainly carried out the following research work:Firstly,establish the basic principles of USV path planning,that is,the organic balance of the minimum number of turns,the shortest path and uniform motion.For this purpose,this paper uses the CFD method to calculate the hydrodynamic resistance of the USV using the STAR-CCM+ software.Based on this,the aerodynamic resistance calculation of the USV is completed and compared with the wind tunnel test data.The comparison results show the effectiveness of the simulation calculation and can be used as the input parameter of the path planning.Secondly,the data of the typical USV obstacle sensor are analyzed,and the data fusion of the electronic chart and the typical USV obstacle sensor is carried out,and a rasterized USV environment map is built.Thirdly,the research of inter-regional moving path planning in complex marine environment is carried out.The path planning model of the USV under wind,wave and ocean current environment and turning performance is established,and the simulation results are verified.The simulation results show the feasibility of the algorithm.Finally,a research on the coverage path planning method of USV is carried out.Considering a variety of obstacles and submarine topography,an improved single region and multi-regional USV sweep survey area coverage path planning method is constructed.The simulation results show the effectiveness of the method.The results show that the method proposed in this paper can efficient full cover areas of sweep survey.