On Ground Search Based on Complete Coverage Path Planning
Zuwei Tian · 2009
The simplified ground search problem is discussed in this paper.Firstly,minimum coverage principle is used to deduce the actual search radius,and then the search width of the search group can be computed by supposing all member lining up.Lastly Problem 1 can be solved by complete path planning based on grid-map.For Problem 2,firstly time and member number balance principle is used to determine the number of each group and the optimal assignment of sub-region for each group,and then Problem 2 is converted into Problem 1.So,Problem 2 can be solved by the solution of Problem 1.Theoretical analysis and computation results show that the present scheme is practicable.