A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage
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| Опубликовано в:: | Journal of Marine Science and Engineering vol. 13, no. 4 (2025), p. 672 |
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| Главный автор: | |
| Другие авторы: | |
| Опубликовано: |
MDPI AG
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| Предметы: | |
| Online-ссылка: | Citation/Abstract Full Text + Graphics Full Text - PDF |
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| 022 | |a 2077-1312 | ||
| 024 | 7 | |a 10.3390/jmse13040672 |2 doi | |
| 035 | |a 3194617894 | ||
| 045 | 2 | |b d20250101 |b d20251231 | |
| 084 | |a 231479 |2 nlm | ||
| 100 | 1 | |a Jiang Xiuhan | |
| 245 | 1 | |a A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage | |
| 260 | |b MDPI AG |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a This paper addresses the challenge of conducting cover searches for unmanned surface vessels operating in unknown waters. To tackle this problem, we propose a cover algorithm that combines job partitioning with a joint network protocol. The algorithm starts by dividing the map area based on an exploration-based approach, followed by task area calculation and assignment using the Boustrophedon technique. Subsequently, a distributed joint network protocol is utilized to dynamically allocate search tasks among the members of the USV (unmanned surface vessel) group, maximizing the overall search efficiency. Three basic strategies are designed for collaboration between USVs (namely, obstacle recognition, distributed communication, and regional transfer), facilitating the real-time allocation of water coverage tasks among unmanned vessels until the entire body of water is completely covered. Simulation experiments demonstrate the effectiveness of the proposed algorithm. Compared to several non-cooperative area coverage algorithms, our algorithm reduces calculation task usage time and total travel distance for the cluster. Furthermore, the proposed algorithm performs well in dynamic environments, efficiently handling coverage search tasks. Notably, the B-CNP (Boustrophedon-contract network protocol) algorithm proposed in this paper achieves an approximate 3.22% reduction in path length compared to the BA* (Boustrophedon-A*) algorithm. | |
| 653 | |a Integer programming | ||
| 653 | |a Collaboration | ||
| 653 | |a Time allocation | ||
| 653 | |a Distributed network protocols | ||
| 653 | |a Search methods | ||
| 653 | |a Algorithms | ||
| 653 | |a Water area | ||
| 653 | |a Planning | ||
| 653 | |a Evacuations & rescues | ||
| 653 | |a Genetic algorithms | ||
| 653 | |a Unmanned vehicles | ||
| 653 | |a Real time | ||
| 653 | |a Vessels | ||
| 653 | |a Surface craft | ||
| 653 | |a Traveling salesman problem | ||
| 653 | |a Energy consumption | ||
| 653 | |a Efficiency | ||
| 653 | |a Economic | ||
| 700 | 1 | |a Fang Xi | |
| 773 | 0 | |t Journal of Marine Science and Engineering |g vol. 13, no. 4 (2025), p. 672 | |
| 786 | 0 | |d ProQuest |t Engineering Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3194617894/abstract/embedded/IZYTEZ3DIR4FRXA2?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text + Graphics |u https://www.proquest.com/docview/3194617894/fulltextwithgraphics/embedded/IZYTEZ3DIR4FRXA2?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3194617894/fulltextPDF/embedded/IZYTEZ3DIR4FRXA2?source=fedsrch |