Coverage Path Planning Based on Improved Exact Cellular Decomposition Method in Ocean Survey
Guanzhong Chen, Yue Shen, Xiangyang Duan, Junhe Wan, Tianhong Yan, Bo He · Global Oceans 2020: Singapore – U.S. Gulf Coast · 2020
In order to improve coverage traversal efficiency of ocean survey for AUV, an improved exact cellular decomposition method is proposed. It combines exact cellular decomposition method and Differential Evolution, which reduce the task execution time and alleviate the problem of energy shortage due to obtaining the optimal cells traversal order. The simulation results verify that the improved exact cellular decomposition method performs better than exact cellular decomposition method in coverage path planning task.