Researching | Sea area full-coverage path planning for unmanned surface vehicleconsidering maneuvering constraints

Chinese Journal of Ship Research, Volume. 19, Issue 6, 210(2024)

Sea area full-coverage path planning for unmanned surface vehicleconsidering maneuvering constraints

Ning WANG1... Huihui WU1 and Yuhang ZHANG2 |Show fewer author(s)

Author Affiliations

¹Marine Engineering College, Dalian Maritime University, Dalian 116026, China

²College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China

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Figures & Tables(16)

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Table 1. Comparison of ship states at different propeller speeds

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Table 1. Comparison of ship states at different propeller speeds

试验序号	左桨转速/s⁻¹	右桨转速/s⁻¹	运行时间/s	平均合速度/(m∙s⁻¹)	航行距离/m	艏向角速度/((°) ∙s⁻¹)
1	80	−63	7.14	0.821 2	5.863 7	0.216 7
2	80	−67	6.98	0.789 2	5.509 2	0.221 8
3	80	−71	6.82	0.755 6	5.153 2	0.227 2
4	80	−75	6.64	0.721 2	4.788 8	0.232 8
5	80	−79	6.48	0.684 3	4.434 6	0.238 6

Table 2. Recommended speed of propeller

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Table 2. Recommended speed of propeller

期望转向角度区间/(°)	左转的螺旋桨推荐转速/s⁻¹	右转的螺旋桨推荐转速/s⁻¹
(90，120]	[−63，80]	[80，−63]
(120，150]	[−8，80]	[80，−83]
(150，180]	[−103，80]	[80，−103]

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Ning WANG, Huihui WU, Yuhang ZHANG. Sea area full-coverage path planning for unmanned surface vehicleconsidering maneuvering constraints[J]. Chinese Journal of Ship Research, 2024, 19(6): 210

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Paper Information

Category: Ship Design and Performance

Received: Jun. 7, 2023

Accepted: --

Published Online: Mar. 14, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.03404

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