A full coverage path planning method for unmanned surface vessels

Aiming at the problems of low coverage rate and high path repetition rate for unmanned surface vessels to complete full coverage tasks in irregular areas, the use of remote control navigation puts forward higher requirements for real-time and maneuverability. Therefore, a full coverage path planning system for the USV is designed. The system uses the concave points to segment the irregular task area, and then performs the area reciprocation algorithm for each convex sub-polygon. Finally, the sub-areas are connected based on the improved algorithm of dynamic programming, and the full coverage path planning of the USV is realized. Combined with the actual electronic chart to carry out the full coverage experiment, the coverage rate is high and the repetition rate is low, which can be actually used for the USV full coverage navigation tasks.