Research on Complete Coverage Path Planning for Unmanned Surface Vessel

Abstract

In order to monitor the water quality in real time, all monitoring points should be covered by Unmanned Surface Vessel (USV). This paper takes the USV as the research object and proposes an improved genetic algorithm to solve the complete coverage path planning (CCPP) problem to ensure that the USV can cover all monitoring points, and minimize the path length, the rate of repeat grid and running time of the algorithm. The feasibility of this solution model is verified by simulation on the platform of Visual Studio.