A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage
This paper addresses the challenge of conducting cover searches for unmanned surface vessels operating in unknown waters. To tackle this problem, we propose a cover algorithm that combines job partitioning with a joint network protocol. The algorithm starts by dividing the map area based on an explo...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-03-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/13/4/672 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850180192612384768 |
|---|---|
| author | Xiuhan Jiang Xi Fang |
| author_facet | Xiuhan Jiang Xi Fang |
| author_sort | Xiuhan Jiang |
| collection | DOAJ |
| description | This paper addresses the challenge of conducting cover searches for unmanned surface vessels operating in unknown waters. To tackle this problem, we propose a cover algorithm that combines job partitioning with a joint network protocol. The algorithm starts by dividing the map area based on an exploration-based approach, followed by task area calculation and assignment using the Boustrophedon technique. Subsequently, a distributed joint network protocol is utilized to dynamically allocate search tasks among the members of the USV (unmanned surface vessel) group, maximizing the overall search efficiency. Three basic strategies are designed for collaboration between USVs (namely, obstacle recognition, distributed communication, and regional transfer), facilitating the real-time allocation of water coverage tasks among unmanned vessels until the entire body of water is completely covered. Simulation experiments demonstrate the effectiveness of the proposed algorithm. Compared to several non-cooperative area coverage algorithms, our algorithm reduces calculation task usage time and total travel distance for the cluster. Furthermore, the proposed algorithm performs well in dynamic environments, efficiently handling coverage search tasks. Notably, the B-CNP (Boustrophedon-contract network protocol) algorithm proposed in this paper achieves an approximate 3.22% reduction in path length compared to the BA* (Boustrophedon-A*) algorithm. |
| format | Article |
| id | doaj-art-8fb303ef9cc14c7dbc3e3f7c821a1dd8 |
| institution | OA Journals |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-8fb303ef9cc14c7dbc3e3f7c821a1dd82025-08-20T02:18:16ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-03-0113467210.3390/jmse13040672A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area CoverageXiuhan Jiang0Xi Fang1School of Mathematics and Statistics, Wuhan University of Technology, Wuhan 430070, ChinaSchool of Mathematics and Statistics, Wuhan University of Technology, Wuhan 430070, ChinaThis paper addresses the challenge of conducting cover searches for unmanned surface vessels operating in unknown waters. To tackle this problem, we propose a cover algorithm that combines job partitioning with a joint network protocol. The algorithm starts by dividing the map area based on an exploration-based approach, followed by task area calculation and assignment using the Boustrophedon technique. Subsequently, a distributed joint network protocol is utilized to dynamically allocate search tasks among the members of the USV (unmanned surface vessel) group, maximizing the overall search efficiency. Three basic strategies are designed for collaboration between USVs (namely, obstacle recognition, distributed communication, and regional transfer), facilitating the real-time allocation of water coverage tasks among unmanned vessels until the entire body of water is completely covered. Simulation experiments demonstrate the effectiveness of the proposed algorithm. Compared to several non-cooperative area coverage algorithms, our algorithm reduces calculation task usage time and total travel distance for the cluster. Furthermore, the proposed algorithm performs well in dynamic environments, efficiently handling coverage search tasks. Notably, the B-CNP (Boustrophedon-contract network protocol) algorithm proposed in this paper achieves an approximate 3.22% reduction in path length compared to the BA* (Boustrophedon-A*) algorithm.https://www.mdpi.com/2077-1312/13/4/672collaborative searchpath planningtask decompositioncontract network protocolwater area coverage |
| spellingShingle | Xiuhan Jiang Xi Fang A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage Journal of Marine Science and Engineering collaborative search path planning task decomposition contract network protocol water area coverage |
| title | A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage |
| title_full | A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage |
| title_fullStr | A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage |
| title_full_unstemmed | A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage |
| title_short | A Collaborative Search Method for USV Swarms Using the B-CNP Algorithm for Water Area Coverage |
| title_sort | collaborative search method for usv swarms using the b cnp algorithm for water area coverage |
| topic | collaborative search path planning task decomposition contract network protocol water area coverage |
| url | https://www.mdpi.com/2077-1312/13/4/672 |
| work_keys_str_mv | AT xiuhanjiang acollaborativesearchmethodforusvswarmsusingthebcnpalgorithmforwaterareacoverage AT xifang acollaborativesearchmethodforusvswarmsusingthebcnpalgorithmforwaterareacoverage AT xiuhanjiang collaborativesearchmethodforusvswarmsusingthebcnpalgorithmforwaterareacoverage AT xifang collaborativesearchmethodforusvswarmsusingthebcnpalgorithmforwaterareacoverage |