CN114371692B - Patrol ship area coverage path planning method, system and device under energy constraint - Google Patents
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Abstract
The application discloses a patrol ship area coverage path planning method, a system and a device under energy constraint, wherein the method comprises the following steps: determining parameters of patrol ships and sea area maps; modeling a sea area map as a square grid map; determining a task area of a patrol ship; and (3) carrying out one-step scanning on the task area by using a round trip coverage method, judging whether the preset coverage rate is reached or not in real time, judging whether the current uncovered area is completely covered or not if the current uncovered area is not required to be charged, searching the uncovered area with the minimum Manhattan distance with the current position of the patrol ship by using a breadth-first search algorithm if the current uncovered area is completely covered or not and the path falls into dead angles, carrying out one-step scanning on the uncovered area by using the round trip coverage method, and judging whether the preset coverage rate is reached or not and whether the charging is required or not in real time. The application can meet the double requirements of the preset optimization target and the sea area map coverage rate under the energy constraint, realize the automatic planning of the cruising path of the patrol ship and improve the patrol efficiency.
Description
Technical Field
The application relates to the technical field of sea area patrol, in particular to a patrol ship area coverage path planning method, system and device under energy constraint.
Background
At present, in the aspects of marine patrol and sea area monitoring, specialized marine defense force can be provided for executing related tasks, such as a certain number of patrol planes, patrol ships and the like, but the conventional marine patrol and monitoring modes are difficult to achieve high efficiency and have the problems of high personnel and equipment operation and maintenance cost and the like facing a large range of marine patrol and monitoring tasks.
With the great development of intelligent manufacturing technology, low-cost equipment represented by unmanned aerial vehicles, unmanned ships and unmanned submersible vehicles gradually mature, and practical application begins in the fields of military operations and anti-terrorism, resource exploration, water quality detection and treatment, water search and rescue and the like, and an important reference function is provided for carrying out ocean patrol and sea area monitoring based on unmanned equipment. Compared with the traditional ocean patrol and monitoring mode, the unmanned equipment can greatly provide working efficiency, greatly shorten the time of ocean area patrol monitoring, reduce the operation cost of personnel, energy and the like, avoid the risk of personnel executing tasks in dangerous sea areas, and have more promising application value and economic value. However, the current patrol path planning for the unmanned patrol vessel has few researches, and the lack of a navigation path planning method which can be applied to the unmanned patrol vessel leads to the great limitation of the application of the unmanned patrol vessel. In addition, the existing navigation path planning method does not consider the energy constraint problem of the unmanned patrol ship, and does not consider the influence of frequent return charge on the whole navigation path of the unmanned patrol ship in the patrol process.
Disclosure of Invention
In order to solve part or all of the technical problems in the prior art, the application provides a patrol ship area coverage path planning method, system and device under energy constraint.
The technical scheme of the application is as follows:
in a first aspect, a patrol ship area coverage path planning method under energy constraint is provided, and the method comprises the following steps:
s1, determining the number of patrol ships, the navigational speed of the patrol ships, the scanning width of the patrol ships, the endurance mileage of the patrol ship battery and a sea area map to be patrol;
s2, modeling a sea area map into a square grid map, and determining an obstacle area and an area to be covered, wherein the obstacle area represents an area formed by all square grids with obstacles, and the area to be covered represents an area formed by all square grids without obstacles;
s3, dividing the area to be covered according to the number of patrol ships and a preset optimization target, and determining a task area of each patrol ship;
s4, determining whether the coverage rate of the task area reaches a preset coverage rate, if so, ending path planning, and if not, executing step S5;
s5, searching a charging point closest to the current position of the patrol ship by using a breadth-first search algorithm, determining a shortest path, and determining whether the patrol ship needs to be charged according to the mileage of the shortest path and the residual mileage of a battery of the patrol ship, if so, executing the step S6, and if not, executing the step S8;
s6, charging is carried out from the current position along the shortest path to the nearest charging point;
s7, after the charging is finished, returning to the original position along the shortest path, or,
after charging is finished, searching an uncovered area of a task area with the minimum Manhattan distance from the current position of the patrol ship by using a breadth-first search algorithm, determining a shortest path, and reaching the nearest uncovered area along the shortest path from the current charging position;
s8, determining whether an uncovered area where the current patrol ship is located is completely covered, if so, executing the step S9, and if not, executing the step S10;
s9, searching an uncovered area of a task area with the minimum Manhattan distance with the current position of the patrol ship by utilizing a breadth-first search algorithm, determining a shortest path, reaching the nearest uncovered area along the shortest path from the current position, scanning the uncovered area in one step by a round trip coverage method or a spiral coverage method, and returning to the step S4;
s10, determining whether a covered path falls into a dead angle, if so, searching an uncovered area of a task area with the minimum Manhattan distance with the current position of the patrol ship by using a breadth-first search algorithm, determining the shortest path, reaching the nearest uncovered area along the shortest path from the current position, scanning the uncovered area in one step by using a round trip coverage method or a spiral coverage method, returning to the step S4, if not, continuing to scan the uncovered area in one step by using the round trip coverage method or the spiral coverage method, and returning to the step S4;
after each navigation step, judging whether the coverage rate of the task area reaches a preset coverage rate in real time, if so, ending path planning;
after each navigation step, whether the patrol ship needs to be charged or not is judged in real time, and if so, the step S6 is directly returned.
In some possible implementations, the width of the square grid is equal to the scan width of the patrol vessel.
In some possible implementations, when the number of patrol vessels is 1, the mission area of the patrol vessels is the area to be covered.
In some possible implementation manners, the number of patrol ships is set to be greater than 1, the preset optimization target is set to be the shortest time required for completing coverage of the area to be covered, the area to be covered is divided in an equal-quantity segmentation mode of area approximation of the area to be covered, and the task area of each patrol ship is determined.
In some possible implementations, dividing the area to be covered by adopting an equal-quantity segmentation mode of performing area approximation on the area to be covered, and determining a task area of each patrol ship includes:
scanning right column by column from the first column grid on the left side of the square grid map or scanning left column by column from the first column grid on the right side of the square grid map, accumulating the grid areas to be covered of each scanned column, and scanning to the c i Sum S of grid areas to be covered accumulated at column time i Satisfy the following requirementsWhen the c is to be i-1 +1st column to c i The area to be covered corresponding to the column is divided into a task area of an ith patrol ship, wherein i=1, 2, … n, c 0 ＝0，S ω Representing the total area of the area to be covered and n representing the number of patrol vessels.
In some possible implementations, dividing the area to be covered by adopting an equal-quantity segmentation mode of performing area approximation on the area to be covered, and determining a task area of each patrol ship includes:
scanning down line by line starting from the first line grid on the upper side of the square grid map or starting from the first line grid on the lower side of the square grid mapScanning the rows upwards, accumulating the grid areas to be covered of each scanned row, and when the h is scanned i Sum R of grid areas to be covered of row-wise accumulation i Satisfy the following requirementsWhen the h is i-1 +1 line to h i The area to be covered corresponding to the row is divided into a task area of an ith patrol ship, wherein i=1, 2, … n, h 0 ＝0，S ω Representing the total area of the area to be covered and n representing the number of patrol vessels.
In a second aspect, there is also provided a patrol vessel area coverage path planning system under energy constraint, the system comprising:
the parameter determining module is used for determining the number of patrol ships, the navigational speed of the patrol ships, the scanning width of the patrol ships, the endurance mileage of the patrol ship battery and the sea area map to be patrol;
the grid map generation module is used for modeling the sea area map into a square grid map and determining an obstacle area and an area to be covered;
the regional division module is used for dividing the region to be covered according to the number of patrol ships and a preset optimization target, and determining the task region of each patrol ship;
the regional path planning module is used for scanning the task region and the uncovered region of the task region by a round trip coverage method or a spiral coverage method;
the coverage condition judging module is used for judging whether the coverage rate of the task area reaches a preset coverage rate or not in real time;
the charging judgment module is used for searching a charging point closest to the current position of the patrol ship by utilizing a breadth-first search algorithm, determining a shortest path, and judging in real time whether the patrol ship needs to be charged or not according to the mileage number of the shortest path and the remaining mileage number of the battery of the patrol ship;
the charging path planning module is used for searching a charging point closest to the current position of the patrol ship by utilizing a breadth-first search algorithm when charging is needed, determining a shortest path, and determining a charging return path according to a preset return path planning mode after the charging is finished, wherein the charging path planning module determines the shortest path in charging as the charging return path when the preset return path planning mode is a return home position, and searches an uncovered area of a task area with the minimum manhattan distance with the current position of the patrol ship by utilizing the breadth-first search algorithm when the preset return path planning mode is a re-planning path, and determines the shortest path to be taken as the charging return path;
the regional coverage judging module is used for determining whether an uncovered region where the current patrol ship is located is completely covered or not;
the coverage path judging module is used for judging whether the coverage path falls into dead angles or not;
the cross-region path planning module is used for searching an uncovered area with the minimum Manhattan distance from the current position of the patrol ship by utilizing a breadth-first search algorithm when the uncovered area of the current patrol ship is completely covered, determining the shortest path, and searching the uncovered area with the minimum Manhattan distance from the current position of the patrol ship by utilizing the breadth-first search algorithm when the uncovered area of the current patrol ship is not completely covered and the covered path falls into a dead angle, and determining the shortest path.
In a third aspect, there is also provided a patrol ship area coverage path planning apparatus under energy constraint, the apparatus comprising a memory and a processor;
the memory stores at least one instruction;
the processor is used for loading and executing the instructions in the memory to execute the patrol ship area coverage path planning method under the energy constraint.
The technical scheme of the application has the main advantages that:
according to the patrol ship area coverage path planning method under the energy constraint, grid map modeling is conducted on a sea area map according to specific parameters of the patrol ship, area division is conducted on the sea area map according to a preset optimization target, a round trip coverage method or a spiral coverage method is utilized to scan a task area of the patrol ship, in the path planning process, judgment of coverage rate and judgment of whether the patrol ship needs to be charged or not are conducted in real time, when the patrol ship needs to be charged, the latest charging point is reached, when the coverage rate does not meet the requirement, the latest uncovered area is searched by utilizing a breadth optimization search algorithm, the uncovered area is scanned by utilizing the round trip coverage method or the spiral coverage method, double requirements of the preset optimization target and the coverage rate of the sea area map can be met under the energy constraint condition of the patrol ship, automatic planning of a navigation path of the patrol ship under the energy constraint condition is achieved, the required time of the sea area patrol ship is shortened, and the sea area patrol efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and without limitation to the application. In the drawings:
FIG. 1 is a flow chart of a patrol vessel area coverage path planning method under energy constraint according to an embodiment of the application;
FIG. 2 is a schematic representation of a sea area according to example 1 of the present application;
FIG. 3 is a square grid map corresponding to FIG. 2;
FIG. 4 is a schematic diagram of a task area division result according to example 1 of the present application;
FIG. 5 is a schematic diagram of a patrol ship area coverage path planning system under energy constraint according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a patrol ship area coverage path planning apparatus under energy constraint according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The following describes in detail the technical scheme provided by the embodiment of the application with reference to the accompanying drawings.
In a first aspect, referring to fig. 1, an embodiment of the present application provides a patrol ship area coverage path planning method under energy constraint, the method including the steps of:
s1, determining the number of patrol ships, the navigational speed of the patrol ships, the scanning width of the patrol ships, the endurance mileage of the patrol ship battery and a sea area map to be patrol;
s2, modeling a sea area map into a square grid map, and determining an obstacle area and an area to be covered, wherein the obstacle area represents an area formed by all square grids with obstacles, and the area to be covered represents an area formed by all square grids without obstacles;
s3, dividing the area to be covered according to the number of patrol ships and a preset optimization target, and determining a task area of each patrol ship;
s4, determining whether the coverage rate of the task area reaches a preset coverage rate, if so, ending path planning, and if not, executing step S5;
s5, searching a charging point closest to the current position of the patrol ship by using a breadth-first search algorithm, determining a shortest path, and determining whether the patrol ship needs to be charged according to the mileage of the shortest path and the residual mileage of a battery of the patrol ship, if so, executing the step S6, and if not, executing the step S8;
s6, charging is carried out from the current position along the shortest path to the nearest charging point;
s7, after the charging is finished, returning to the original position along the shortest path, or,
after charging is finished, searching an uncovered area of a task area with the minimum Manhattan distance from the current position of the patrol ship by using a breadth-first search algorithm, determining a shortest path, and reaching the nearest uncovered area along the shortest path from the current charging position;
s8, determining whether an uncovered area where the current patrol ship is located is completely covered, if so, executing the step S9, and if not, executing the step S10;
s9, searching an uncovered area of a task area with the minimum Manhattan distance with the current position of the patrol ship by utilizing a breadth-first search algorithm, determining a shortest path, reaching the nearest uncovered area along the shortest path from the current position, scanning the uncovered area in one step by a round trip coverage method or a spiral coverage method, and returning to the step S4;
s10, determining whether a covered path falls into a dead angle, if so, searching an uncovered area of a task area with the minimum Manhattan distance with the current position of the patrol ship by using a breadth-first search algorithm, determining the shortest path, reaching the nearest uncovered area along the shortest path from the current position, scanning the uncovered area in one step by using a round trip coverage method or a spiral coverage method, returning to the step S4, if not, continuing to scan the uncovered area in one step by using the round trip coverage method or the spiral coverage method, and returning to the step S4;
judging whether the coverage rate of the task area reaches a preset coverage rate in real time after each navigation step, and if so, ending path planning;
after each navigation step, whether the patrol ship needs to be charged or not is judged in real time, and if so, the step S6 is directly returned.
According to the patrol ship area coverage path planning method under the energy constraint provided by the embodiment of the application, the sea area map is subjected to grid map modeling according to the specific parameters of the patrol ship, the sea area map is subjected to area division according to the preset optimization target, the task area of the patrol ship is scanned by using the round trip coverage method or the spiral coverage method, in the path planning process, the coverage rate and the judgment of whether the patrol ship needs to be charged or not are carried out in real time, when the patrol ship needs to be charged, the nearest charging point is reached, when the coverage rate does not reach the requirement, the nearest uncovered area is searched by using the breadth optimization search algorithm, the uncovered area is scanned by using the round trip coverage method or the spiral coverage method, the double requirements of the preset optimization target and the coverage rate of the sea area map can be met under the energy constraint condition of the patrol ship, the navigation path of the patrol ship under the energy constraint condition is automatically planned, the required time of the sea area patrol ship is reduced, and the sea area patrol efficiency is improved.
Since the setting of the size of the grid affects the coverage efficiency, too large grid may cause excessive coverage of some areas, and too small grid may cause excessive coverage time. Considering that sea-area obstructions are typically islands, the size of the islands is typically much larger than the scan width of an unmanned patrol vessel detection sensor. In an embodiment of the application, the width of the square grid is set to be the scanning width of the patrol ship, so that the detection scanning efficiency is improved to the greatest extent.
Further, in an embodiment of the present application, the following manner may be used to determine whether the patrol vessel needs to be charged:
when the sum of the mileage of the shortest path and the width of the square grid determined in the step S5 is smaller than the remaining mileage of the patrol ship battery, the patrol ship does not need to be charged;
when the sum of the mileage of the shortest path and the width of the square grid determined in step S5 is equal to or greater than the remaining mileage of the patrol ship battery, the patrol ship needs to be charged.
In an actual sea patrol application scenario, the optimization target is usually that the required time for completing coverage of the area to be covered is shortest, that is, the execution task time of the patrol ship with the longest time consumption is minimized, so as to improve the sea patrol efficiency.
Specifically, when the preset optimization target is the shortest time required for completing coverage of the area to be covered, dividing the area to be covered according to the number of patrol ships and the preset optimization target, and determining the task area of each patrol ship, wherein the method specifically comprises the following steps:
dividing the area to be covered into task areas of the patrol ships when the number of the patrol ships is 1;
when the number of patrol ships is more than 1, dividing the areas to be covered by adopting an equal-quantity segmentation mode of carrying out area approximation on the areas to be covered, and determining the task area of each patrol ship.
The equal dividing mode is adopted to divide the coverage area, so that the task area of each patrol ship in charge of patrol monitoring can be guaranteed to be the same as much as possible, the patrol operation division of the patrol ship can be guaranteed to be clear, the occurrence of mutual overlapping and interference of paths is avoided, and the cooperation efficiency of a plurality of patrol ships is improved.
As an example, in an embodiment of the present application, dividing an area to be covered by using an equal-amount segmentation method for performing area approximation on the area to be covered, and determining a task area of each patrol ship may include:
scanning right column by column from the first column grid on the left side of the square grid map or scanning left column by column from the first column grid on the right side of the square grid map, accumulating the grid areas to be covered of each scanned column, and scanning to the c i Sum S of grid areas to be covered accumulated at column time i Satisfy the following requirementsWhen the c is to be i-1 +1st column to c i The area to be covered corresponding to the column is divided into a task area of an ith patrol ship, wherein i=1, 2, … n, c 0 ＝0，S ω Representing the total area of the area to be covered and n representing the number of patrol vessels.
As another example, in an embodiment of the present application, dividing an area to be covered by using an equal-amount segmentation method for performing area approximation on the area to be covered, and determining a task area of each patrol ship may include:
scanning downwards row by row from the first row of grids on the upper side of the square grid map or scanning upwards row by row from the first row of grids on the lower side of the square grid map, accumulating the grid areas to be covered of each scanned row, and scanning to h i Sum R of grid areas to be covered of row-wise accumulation i Satisfy the following requirementsWhen the h is i-1 +1 line to h i The area to be covered corresponding to the row is divided into a task area of an ith patrol ship, wherein i=1, 2, … n, h 0 ＝0，S ω Representing the area to be coveredN represents the number of patrol vessels.
In an embodiment of the present application, the round trip coverage method and the spiral coverage method are both area traversal algorithms conventional in the art, and the breadth-first search algorithm is a path search algorithm conventional in the art. The steps and principles of the round-trip coverage method can be found, for example, in the technical literature: "Choset H, pignon P.coverage path planning: the boustrophedon cellular decomposition [ C ]. Field and service robotics. Springer, london,1998: 203-209). The steps and principles of the spiral coating method can be found, for example, in the technical literature: "robot coverage path planning study based on grid map [ J ]. Hao Zongbo, computer application study, 24 th Vol 10 th edition, pages 56-58, 2007). The steps and principles of breadth-first search algorithms can be found, for example, in the technical literature: "Tripathy H K, mishra S, thakkar H K, et al CARE: A collision-aware mobile robot navigation in grid environment using improved breadth first search [ J ]. Computers & Electrical Engineering,2021,94:107327".
In order to make the above technical solutions of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to specific examples. It will be apparent that the described examples are only some, but not all, embodiments of the application.
Example 1
This example 1 uses a sea area surrounding a certain island as an application scenario of a sea patrol task.
Parameters of the patrol vessel are set as follows: the number of patrol ships n=10, the detected navigational speed v ship =20 km, scan width w ship Number of cruising mileage of patrol ship battery/2 km ship =400 km, one charge time T charge =3h. The map of the sea area is shown in fig. 2, the coverage area of the sea area is about 130km, the width is about 120km, and the area of the sea area is s= 15990km 2 。
Referring to fig. 3, the sea area map is modeled as a square grid map, the width w of the square grid grid ＝w ship The square grid map includes an obstacle region and a region to be treatedCoverage area, to-be-covered area is S ω ＝13764km 2 。
Referring to fig. 4, taking 5 patrol vessels to cooperatively execute a sea area coverage task as an example, an equal-quantity segmentation mode of performing area approximation on an area to be covered is adopted to divide the area to be covered, specifically, the above-mentioned column-by-column scanning division mode is adopted to divide the area to be covered, task areas of the 5 patrol vessels are determined, and the obtained 5 task areas respectively occupy 20.8%, 20.4%, 20%, 19.8% and 19%.
Further, on the basis of scanning the task area and the uncovered area of the patrol ship by adopting a round trip coverage method, path planning is carried out in a mode of returning to the original position after charging and a mode of re-planning the path after charging, so that two path planning results are obtained.
Table 1 below shows the preset coverage J based on scanning the mission area and uncovered area of the patrol vessel by the shuttle coverage method CR 100 percent of index data corresponding to two path planning results under the conditions of 1, 5 and 10 respectively.
TABLE 1
Further, on the basis of scanning the task area and the uncovered area of the patrol ship by adopting a spiral coverage method, path planning is carried out in a mode of returning to the original position after charging and a mode of re-planning the path after charging, so that two path planning results are obtained.
Table 2 below shows the preset coverage J based on scanning the mission area and uncovered area of the patrol vessel using the spiral coverage method CR 100 percent of fingers corresponding to two path planning results under the conditions that the number of patrol ships is 1, 5 and 10 respectivelyAnd marking data.
TABLE 2
Based on the data in tables 1 and 2, since the division of the mission area becomes more dispersed as the number of patrol vessels increases, the total area that the patrol vessels need to cross in the plurality of mission areas becomes more, and the path repetition rate and the total number of steps are moderately increased. The greater the number of patrol vessels, the shorter the time required to complete the coverage of the sea area. Returning to the original position after charging can lead to additional repetition rate of the charging path, and re-planning the path after charging can lead to additional repetition rate of the segmented subareas. Under the same conditions, the repetition rate, the total steps, the total time and the charging times of the round-trip coverage method are slightly lower than those of the spiral coverage method, and the round-trip coverage method can be preferentially adopted when the path planning is carried out. Under the same condition, the repetition rate, the total step number, the total time and the charging times of the method for re-planning the path after charging are slightly lower than those of the method for returning to the original position after charging, and the method for re-planning the path after charging can be preferentially adopted when the path planning is carried out.
In a second aspect, referring to fig. 5, an embodiment of the present application further provides a patrol ship area coverage path planning system 100 under energy constraint, the system 100 comprising:
the parameter determining module 101 is used for determining the number of patrol ships, the navigational speed of the patrol ships, the scanning width of the patrol ships, the endurance mileage of the patrol ship battery and the sea area map to be patrol;
the grid map generation module 102 is used for modeling the sea area map into a square grid map and determining an obstacle area and an area to be covered;
the area dividing module 103 is configured to divide an area to be covered according to the number of patrol ships and a preset optimization target, and determine a task area of each patrol ship;
the area path planning module 104 is configured to scan the task area and the uncovered area of the task area by a round-trip coverage method or a spiral coverage method;
the coverage condition judging module 105 is used for judging whether the coverage rate of the task area reaches a preset coverage rate in real time;
the charging judgment module 106 is configured to search a charging point closest to a current position of the patrol ship by using a breadth-first search algorithm, determine a shortest path, and judge in real time whether the patrol ship needs to be charged according to a mileage number of the shortest path and a remaining mileage number of a battery of the patrol ship;
the charging path planning module 107 is configured to search, when charging is required, a charging point closest to a current position of the patrol boat by using a breadth-first search algorithm, determine a shortest path, and determine a charging return path according to a preset return path planning mode after the charging is finished, wherein when the preset return path planning mode is a return home position, the charging path planning module determines the shortest path in charging as the charging return path, and when the preset return path planning mode is a re-planned path, the charging path planning module searches, by using the breadth-first search algorithm, an uncovered area of a task area with a minimum manhattan distance from the current position of the patrol boat, determines the shortest path, and uses the shortest path as the charging return path;
the area coverage judging module 108 is configured to determine whether an uncovered area where the patrol ship is located is completely covered;
a coverage path determination module 109, configured to determine whether the coverage path falls into a dead angle;
the transregional path planning module 110 is configured to search, when an uncovered area where the current patrol ship is located is completely covered, for an uncovered area with a minimum manhattan distance from the current position of the patrol ship by using a breadth-first search algorithm, and determine a shortest path, and to search, when the uncovered area where the current patrol ship is located is not completely covered and the covered path falls into a dead angle, for an uncovered area with a minimum manhattan distance from the current position of the patrol ship by using a breadth-first search algorithm, and determine the shortest path.
Specifically, when the patrol ship area coverage path planning system under the energy constraint provided by the embodiment of the application is applied, the parameter determining module determines the number of patrol ships, the navigational speed of the patrol ships, the scanning width of the patrol ships, the number of cruising mileage of the battery of the patrol ships and a sea area map to be patrol; the grid map generation module models the sea area map into a square grid map according to the specific parameters of the patrol ship and the sea area map to be patrol, which are determined by the parameter determination module, and determines an obstacle area and an area to be covered; the area dividing module divides the area to be covered according to the square grid map generated by the grid map generating module, the number of patrol ships and a preset optimization target, and determines a task area of each patrol ship; based on the division result of the area division module, the area path planning module scans the task area of the patrol ship by a round trip coverage method or a spiral coverage method; in the process of scanning by the regional path planning module, the coverage condition judging module judges and determines whether the coverage rate of the task region reaches a preset coverage rate in real time, and when the coverage rate reaches the preset coverage rate, the path planning is ended; when the coverage rate does not reach the preset coverage rate, the charging judgment module searches a charging point closest to the current position of the patrol ship by utilizing a breadth-first search algorithm, determines a shortest path, and judges in real time whether the patrol ship needs to be charged or not according to the mileage number of the shortest path and the remaining mileage number of the battery of the patrol ship; when charging is needed, the charging path planning module searches a charging point closest to the current position of the patrol ship by utilizing a breadth-first search algorithm, determines a shortest path, and charges the charging point along the shortest path to the closest charging point; after the charging is completed, the charging path planning module determines a charging return path according to a preset return path planning mode, and when the preset return path planning mode is a return home position, the charging path planning module determines the shortest path during charging as the charging return path and returns to the home position along the shortest path; when the preset return route planning mode is a re-planned route, the charging path planning module searches an uncovered area of a task area with the minimum Manhattan distance with the current position of the patrol ship by utilizing a breadth-first search algorithm, and determines the shortest path as a charging return path, and the shortest path reaches the nearest uncovered area; when charging is not needed, the device returns to the original position after charging, or the device reaches the nearest uncovered area after charging, the area coverage judging module judges whether the uncovered area where the current patrol ship is located is completely covered or not; when the uncovered area where the current patrol ship is located is completely covered, the cross-region path planning module searches the uncovered area with the minimum Manhattan distance from the current position of the patrol ship by utilizing a breadth-first search algorithm, determines the shortest path, reaches the nearest uncovered area along the shortest path, and after the nearest uncovered area is reached, the area path planning module performs one-step scanning on the nearest uncovered area by a round-trip coverage method or a spiral coverage method; when the uncovered area where the current patrol ship is located is not completely covered, the covered path judging module judges whether the covered path falls into a dead angle or not, if the covered path does not fall into the dead angle, the area path planning module continues to scan the uncovered area by a round trip coverage method or a spiral coverage method, if the covered path falls into the dead angle, the cross-regional path planning module searches the uncovered area with the minimum manhattan distance with the current position of the patrol ship by using a breadth-first search algorithm, determines the shortest path, reaches the nearest uncovered area along the shortest path, and after the nearest uncovered area is reached, the area path planning module scans the nearest uncovered area by a round trip coverage method or a spiral coverage method by one step; in the whole process of path planning, the coverage condition judging module judges whether the coverage rate of the task area reaches the preset coverage rate or not in real time every time when one step is carried out, the process is continuously executed when the coverage rate does not reach the preset coverage rate, and the path planning is ended when the coverage rate reaches the preset coverage rate; in the whole process of path planning, each time a journey is made, the charging path planning module searches a charging point closest to the current position of the patrol ship by utilizing a breadth-first search algorithm, determines the shortest path, judges in real time whether the patrol ship needs to be charged according to the mileage number of the shortest path and the remaining mileage number of a battery of the patrol ship, continues to execute the process when the patrol ship does not need to be charged, and charges and executes a subsequent process from the shortest path to the closest charging point when the patrol ship needs to be charged.
In a third aspect, referring to fig. 6, an embodiment of the present application further provides a patrol ship area coverage path planning apparatus 200 under energy constraint, where the apparatus 200 includes a memory 201, a processor 202, a communication interface 203, and a bus 204;
memory 201 stores at least one instruction;
the processor 202 is configured to load and execute the instructions in the memory 201 to perform the patrol ship area coverage path planning method under the energy constraint described above;
a communication interface 203 for communicating, the memory 201, the processor 202 and the communication interface 203 being interconnected by a bus 204.
In one embodiment of the present application, the memory 201 may be a Random Access Memory (RAM), a flash memory (flash), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register (register), a hard disk, a removable hard disk, a CD-ROM, or any other form of storage medium known to those skilled in the art.
The processor 202 may be, for example, a Central Processing Unit (CPU), a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or execute the various exemplary logic blocks and modules described in connection with the disclosure of embodiments of the present application. A processor may also be a combination that performs computing functions, e.g., including one or more microprocessors, a combination of a DSP and a microprocessor, and so forth. For the detailed processing procedure of the processor, please refer to the detailed description of the patrol ship area coverage path planning method, and the detailed description is omitted here.
The communication interface 203 may be, for example, an interface card, an Ethernet (Ethernet) interface, or an Asynchronous Transfer Mode (ATM) interface.
The bus 204 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus 204 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
According to the patrol ship area coverage path planning method, system and device under the energy constraint, grid map modeling is conducted on the sea area map according to specific parameters of the patrol ship, area division is conducted on the sea area map according to a preset optimization target, a round trip coverage method or a spiral coverage method is utilized to scan a task area of the patrol ship, in the path planning process, judgment of coverage rate and judgment of whether the patrol ship needs to be charged or not are conducted in real time, when the requirement of the patrol ship needs to be charged, the nearest charging point is reached, when the coverage rate does not meet the requirement, a breadth optimization search algorithm is utilized to search the nearest uncovered area, the round trip coverage method or the spiral coverage method is utilized to scan the uncovered area, double requirements of the preset optimization target and the coverage rate of the sea area map can be met under the energy constraint condition of the patrol ship, automatic planning of a navigation path of the patrol ship under the energy constraint condition is achieved, the required time of the sea area patrol ship is shortened, and the patrol efficiency of the sea area is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In the several embodiments provided by the present application, it should be understood that the disclosed systems and methods may be implemented in other ways. For example, the system embodiments described above are merely illustrative, e.g., the division of the modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules may be combined, or some features may be omitted or not performed.
Those of ordinary skill in the art will appreciate that all or a portion of the steps implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (8)
1. A patrol ship area coverage path planning method under energy constraint, characterized by comprising the following steps:
s1, determining the number of patrol ships, the navigational speed of the patrol ships, the scanning width of the patrol ships, the endurance mileage of the patrol ship battery and a sea area map to be patrol;
s2, modeling a sea area map into a square grid map, and determining an obstacle area and an area to be covered, wherein the obstacle area represents an area formed by all square grids with obstacles, and the area to be covered represents an area formed by all square grids without obstacles;
s3, dividing the area to be covered according to the number of patrol ships and a preset optimization target, and determining a task area of each patrol ship;
s4, determining whether the coverage rate of the task area reaches a preset coverage rate, if so, ending path planning, and if not, executing step S5;
s5, searching a charging point closest to the current position of the patrol ship by using a breadth-first search algorithm, determining a shortest path, and determining whether the patrol ship needs to be charged according to the mileage of the shortest path and the residual mileage of a battery of the patrol ship, if so, executing the step S6, and if not, executing the step S8;
s6, charging is carried out from the current position along the shortest path to the nearest charging point;
s7, after the charging is finished, returning to the original position along the shortest path, or,
after charging is finished, searching an uncovered area of a task area with the minimum Manhattan distance from the current position of the patrol ship by using a breadth-first search algorithm, determining a shortest path, and reaching the nearest uncovered area along the shortest path from the current charging position;
s8, determining whether an uncovered area where the current patrol ship is located is completely covered, if so, executing the step S9, and if not, executing the step S10;
s9, searching an uncovered area of a task area with the minimum Manhattan distance with the current position of the patrol ship by utilizing a breadth-first search algorithm, determining a shortest path, reaching the nearest uncovered area along the shortest path from the current position, scanning the uncovered area in one step by a round trip coverage method or a spiral coverage method, and returning to the step S4;
s10, determining whether a covered path falls into a dead angle, if so, searching an uncovered area of a task area with the minimum Manhattan distance with the current position of the patrol ship by using a breadth-first search algorithm, determining the shortest path, reaching the nearest uncovered area along the shortest path from the current position, scanning the uncovered area in one step by using a round trip coverage method or a spiral coverage method, returning to the step S4, if not, continuing to scan the uncovered area in one step by using the round trip coverage method or the spiral coverage method, and returning to the step S4;
after each navigation step, judging whether the coverage rate of the task area reaches a preset coverage rate in real time, if so, ending path planning;
after each navigation step, whether the patrol ship needs to be charged or not is judged in real time, and if so, the step S6 is directly returned.
2. The method for planning a patrol vessel area coverage path under energy constraint according to claim 1, wherein the width of the square grid is equal to the scan width of the patrol vessel.
3. The patrol vessel area coverage path planning method under energy constraint according to claim 1, wherein when the number of patrol vessels is 1, the mission area of the patrol vessel is an area to be covered.
4. The method for planning patrol ship area coverage paths under energy constraint according to claim 1, wherein the number of patrol ships is set to be more than 1, the preset optimization target is set to be the shortest time required for completing coverage of the areas to be covered, the areas to be covered are divided in an equal-quantity segmentation mode of area approximation of the areas to be covered, and the task area of each patrol ship is determined.
5. The method for planning a patrol vessel area coverage path under energy constraint according to claim 4, wherein dividing the area to be covered by an equal-quantity segmentation method for performing area approximation on the area to be covered, determining a task area of each patrol vessel comprises:
scanning right column by column from the first column grid on the left side of the square grid map or scanning left column by column from the first column grid on the right side of the square grid map, accumulating the grid areas to be covered of each scanned column, and scanning to the c i Sum S of grid areas to be covered accumulated at column time i Satisfy the following requirementsWhen the c is to be i-1 +1st column to c i The area to be covered corresponding to the column is divided into task areas of an ith patrol ship, wherein i=1, 2,..n, c 0 ＝0，S ω Representing the total area of the area to be covered and n representing the number of patrol vessels.
6. The method for planning a patrol vessel area coverage path under energy constraint according to claim 4, wherein dividing the area to be covered by an equal-quantity segmentation method for performing area approximation on the area to be covered, determining a task area of each patrol vessel comprises:
scanning down row by row or from a first row grid on top of a square grid mapStarting scanning upwards row by a first row of grids at the lower side of the grid-shaped map, accumulating the grid areas to be covered of each scanned row, and when the h is scanned i Sum R of grid areas to be covered of row-wise accumulation i Satisfy the following requirementsWhen the h is i-1 +1 line to h i The area to be covered corresponding to the row is divided into task areas of an ith patrol ship, wherein i=1, 2,..n, h 0 ＝0，S ω Representing the total area of the area to be covered and n representing the number of patrol vessels.
7. A patrol vessel area coverage path planning system under energy constraints, the system comprising:
the parameter determining module is used for determining the number of patrol ships, the navigational speed of the patrol ships, the scanning width of the patrol ships, the endurance mileage of the patrol ship battery and the sea area map to be patrol;
the grid map generation module is used for modeling the sea area map into a square grid map and determining an obstacle area and an area to be covered;
the regional division module is used for dividing the region to be covered according to the number of patrol ships and a preset optimization target, and determining the task region of each patrol ship;
the regional path planning module is used for scanning the task region and the uncovered region of the task region by a round trip coverage method or a spiral coverage method;
the coverage condition judging module is used for judging whether the coverage rate of the task area reaches a preset coverage rate or not in real time;
the charging judgment module is used for searching a charging point closest to the current position of the patrol ship by utilizing a breadth-first search algorithm, determining a shortest path, and judging in real time whether the patrol ship needs to be charged or not according to the mileage number of the shortest path and the remaining mileage number of the battery of the patrol ship;
the charging path planning module is used for searching a charging point closest to the current position of the patrol ship by utilizing a breadth-first search algorithm when charging is needed, determining a shortest path, and determining a charging return path according to a preset return path planning mode after the charging is finished, wherein the charging path planning module determines the shortest path in charging as the charging return path when the preset return path planning mode is a return home position, and searches an uncovered area of a task area with the minimum manhattan distance with the current position of the patrol ship by utilizing the breadth-first search algorithm when the preset return path planning mode is a re-planning path, and determines the shortest path to be taken as the charging return path;
the regional coverage judging module is used for determining whether an uncovered region where the current patrol ship is located is completely covered or not;
the coverage path judging module is used for judging whether the coverage path falls into dead angles or not;
the cross-region path planning module is used for searching an uncovered area with the minimum Manhattan distance from the current position of the patrol ship by utilizing a breadth-first search algorithm when the uncovered area of the current patrol ship is completely covered, determining the shortest path, and searching the uncovered area with the minimum Manhattan distance from the current position of the patrol ship by utilizing the breadth-first search algorithm when the uncovered area of the current patrol ship is not completely covered and the covered path falls into a dead angle, and determining the shortest path.
8. A patrol ship area coverage path planning device under energy constraint, the device comprising a memory and a processor;
the memory stores at least one instruction;
the processor is configured to load and execute instructions in the memory to perform the method of any one of claims 1 to 6.
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