Underwater full coverage path planning in unknown waters based on random search two-stage planning model algorithm

Table 1. Analysis of four typical search strategies in a rectangular sea area
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Table 1. Analysis of four typical search strategies in a rectangular sea area
搜索策略求解方法覆盖情况搜索路径/n mile
平行搜索解析解全覆盖 590
之字搜索解析解全覆盖 838
螺旋搜索解析解全覆盖 590
随机搜索数值解全覆盖 883

Table 2. Analysis of four typical search strategies in a round sea area
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Table 2. Analysis of four typical search strategies in a round sea area
搜索策略求解方法覆盖情况搜索路径/n mile
螺旋搜索解析解全覆盖 307
随机搜索数值解全覆盖 456

Table 3. Analysis of a typical search strategy in an irregular sea area
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Table 3. Analysis of a typical search strategy in an irregular sea area
搜索策略求解方法覆盖情况搜索路径/n mile
随机搜索数值解全覆盖 2 196

Table 4. Applicability analysis of four typical search strategies

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Table 4. Applicability analysis of four typical search strategies

搜索策略	适用海域	建模求解方法	求解效率	最优性分析	重复搜索
平行搜索	矩形海域	解析解	高	最优覆盖、最短用时均能达到最优	低
之字搜索	矩形海域	解析解	高	最优覆盖、最短时间难以兼顾	高
螺旋搜索	矩形海域圆形海域	解析解	高	最优覆盖、最短用时均能达到最优	低
随机搜索	矩形海域圆形海域不规则海域	数值解	中	最优覆盖、最短用时能达到近优解	中

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Zhaojie WANG, Ming MAO, Dingshan LI, Mu SUN, Jinhui XIONG, Feng GAO, Qiaozhu ZHAI, He ZHANG, Hao LIU. Underwater full coverage path planning in unknown waters based on random search two-stage planning model algorithm[J]. Chinese Journal of Ship Research, 2025, 20(4): 286

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