A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles DOI Creative Commons

Jiao Deng,

Yang Long, Jiming Zhang

и другие.

Journal of Marine Science and Engineering, Год журнала: 2025, Номер 13(5), С. 958 - 958

Опубликована: Май 15, 2025

To address the issues of poor environmental adaptability and high costs associated with traditional methods measuring water body boundaries, this paper proposes an innovative path planning approach for boundary measurement based on Unmanned Surface Vehicles (USVs)—the Chemotactic Search Traversal (CST) algorithm. This method incorporates chemotaxis operation mechanism Bacterial Foraging Optimization algorithm, integrating it high-resolution grid maps to enable efficient traversal accurate boundaries within large-scale environments. Simulation experiments demonstrate that CST algorithm outperforms Brute Force Algorithm (BFA), Roberts operator, Canny Log Prewitt Sobel operator in terms optimal pathfinding, stability, smoothness. The feasibility reliability real environments are validated through conducted actual USVs. These findings suggest not only enhances accuracy efficiency but also offers a cost-effective practical solution areas.

Язык: Английский

Real-time distributed decision-making for simultaneous target assignment and path planning in multiple unmanned surface vehicles DOI
Shihong Yin, Zhengrong Xiang

Expert Systems with Applications, Год журнала: 2025, Номер 279, С. 127457 - 127457

Опубликована: Апрель 8, 2025

Язык: Английский

Процитировано

0
Energy-constrained collaborative path planning for heterogeneous amphibious unmanned surface vehicles in obstacle-cluttered environments DOI
Shihong Yin, Zhengrong Xiang

Ocean Engineering, Год журнала: 2025, Номер 330, С. 121241 - 121241

Опубликована: Апрель 19, 2025

Язык: Английский

Процитировано

0
A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles DOI Creative Commons

Jiao Deng,

Yang Long, Jiming Zhang

и другие.

Journal of Marine Science and Engineering, Год журнала: 2025, Номер 13(5), С. 958 - 958

Опубликована: Май 15, 2025

To address the issues of poor environmental adaptability and high costs associated with traditional methods measuring water body boundaries, this paper proposes an innovative path planning approach for boundary measurement based on Unmanned Surface Vehicles (USVs)—the Chemotactic Search Traversal (CST) algorithm. This method incorporates chemotaxis operation mechanism Bacterial Foraging Optimization algorithm, integrating it high-resolution grid maps to enable efficient traversal accurate boundaries within large-scale environments. Simulation experiments demonstrate that CST algorithm outperforms Brute Force Algorithm (BFA), Roberts operator, Canny Log Prewitt Sobel operator in terms optimal pathfinding, stability, smoothness. The feasibility reliability real environments are validated through conducted actual USVs. These findings suggest not only enhances accuracy efficiency but also offers a cost-effective practical solution areas.

Язык: Английский

Процитировано

0