Chinese Journal of Ship Research, Volume. 20, Issue 4, 286(2025)

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

Zhaojie WANG1,2, Ming MAO3, Dingshan LI1,2, Mu SUN1,2, Jinhui XIONG1,2, Feng GAO4, Qiaozhu ZHAI4, He ZHANG1,2, and Hao LIU1,2
Author Affiliations
  • 1China Ship Research and Development Academy, Beijing 100192, China
  • 2Future Development Research Center of China State Shipbuilding Co., Ltd., Beijing 100192, China
  • 3Naval Petty Officer Academy of PLA, Bengbu 233010, China
  • 4Faculty of Electronic and Information, Xi'an Jiaotong University, Xi'an 710049, China
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    References(7)

    [19] YOON S, QIAO C M. Cooperative search and survey using autonomous underwater vehicles (AUVs)[J]. IEEE Transactions on Parallel and Distributed Systems, 22, 364-379(2011).

    [20] DING W J, CAO H, GUO H et al. Investigation on optimal path for submarine search by an unmanned underwater vehicle[J]. Computers & Electrical Engineering, 79, 106468(2019).

    [21] CAO X, SUN H B, JAN G E. Multi-AUV cooperative target search and tracking in unknown underwater environment[J]. Ocean Engineering, 150, 1-11(2018).

    [22] [22] JANCHIV A, BATSAIKHAN D, HWAN KIM G, et al. Complete coverage path planning f multirobots based on[C]2011 11th International Conference on Control, Automation Systems. Gyeonggido: IEEE, 2011: 824−827.

    [23] HAZON N, KAMINKA G A. On redundancy, efficiency, and robustness in coverage for multiple robots[J]. Robotics and Autonomous Systems, 56, 1102-1114(2008).

    [24] KAPANOGLU M, ALIKALFA M, OZKAN M et al. A pattern-based genetic algorithm for multi-robot coverage path planning minimizing completion time[J]. Journal of Intelligent Manufacturing, 23, 1035-1045(2012).

    [25] [25] ZHU D Q, TIAN C, JIANG X F, et al. MultiAUVs cooperative complete coverage path planning based on GBNN algithm[C]2017 29th Chinese Control Decision Conference (CCDC). Chongqing: IEEE, 2017: 6761−6766.

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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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    Paper Information

    Category: Weapon, Electronic and Information System

    Received: Nov. 2, 2023

    Accepted: Mar. 29, 2024

    Published Online: Sep. 11, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.03633

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