Path Planning for Coverage Search for Submarines Using Fixed-wing UAVs in Complex Irregular Sea Area

doi:10.12382/bgxb.2022.B024

Abstract

Abstract: To deal with the problem of using fixed-wing unmanned aerial vehicles (UAVs) for fast coverage search for submarines in large sea area, a Dubins path search strategy for the selective removal of concave points in regions in complex, irregular polygonal shapes was proposed. Firstly, a mathematical model of UAV searching and detection cost was established. Combined with the turning characteristics of fixed-wing UAVs, the Dubins path method was introduced based on the traditional method of UAV's coverage search in convex polygonal regions.Then, in order to avoid “violent” removal of all concave points for the irregular concave polygonal regions, an improved concave point removal method was proposed, which turned the irregular concave polygon region into a regular convex polygonal region. Finally, a comparison and verification experiment of the UAV coverage search strategy in regions with complex boundaries was designed. The simulation results showed that the method of removing the concave points on the boundary of the polygonal region and searching according to the Dubins path in the search direction along the span can greatly reduce the invalid navigation cost of the detection and coverage search, which can provide theoretical support for efficient submarine search.

Key words: fixed-wingUAV, irregularregion, coveragesearchforsubmarines, dubinspath, concavepointremoval

CLC Number:

TJ67

MA Yan, FENG Wei, LUO Rong, LI Ye, MENG Xiangyao. Path Planning for Coverage Search for Submarines Using Fixed-wing UAVs in Complex Irregular Sea Area[J]. Acta Armamentarii, 2022, 43(S2): 40-52.

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第43卷增刊22022 年11月
兵工学报ACTA ARMAMENTARII
Vol.43Suppl.2Nov. 2022

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