A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles
To address the issues of poor environmental adaptability and high costs associated with traditional methods of measuring water body boundaries, this paper proposes an innovative path planning approach for water body boundary measurement based on Unmanned Surface Vehicles (USVs)—the Chemotactic Searc...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/5/958 |
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| author | Jiao Deng Yang Long Jiming Zhang Hang Gao Song Liu |
| author_facet | Jiao Deng Yang Long Jiming Zhang Hang Gao Song Liu |
| author_sort | Jiao Deng |
| collection | DOAJ |
| description | To address the issues of poor environmental adaptability and high costs associated with traditional methods of measuring water body boundaries, this paper proposes an innovative path planning approach for water body boundary measurement based on Unmanned Surface Vehicles (USVs)—the Chemotactic Search Traversal (CST) algorithm. This method incorporates the chemotaxis operation mechanism of the Bacterial Foraging Optimization algorithm, integrating it with high-resolution grid maps to enable efficient traversal and accurate measurement of water body boundaries within large-scale grid environments. Simulation experiments demonstrate that the CST algorithm outperforms the Brute Force Algorithm (BFA), Roberts operator, Canny operator, Log operator, Prewitt operator, and Sobel operator in terms of optimal pathfinding, stability, and path smoothness. The feasibility and reliability of this algorithm in real water environments are validated through experiments conducted with actual USVs. These findings suggest that the CST algorithm not only enhances the accuracy and efficiency of water body boundary measurement but also offers a cost-effective and practical solution for measuring water body areas. |
| format | Article |
| id | doaj-art-9af7bcdb0a594d97bde7b3e6cf67a065 |
| institution | OA Journals |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
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| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-9af7bcdb0a594d97bde7b3e6cf67a0652025-08-20T01:56:24ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-05-0113595810.3390/jmse13050958A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface VehiclesJiao Deng0Yang Long1Jiming Zhang2Hang Gao3Song Liu4School of Intelligent Science and Engineering, Hubei Minzu University, Enshi 445000, ChinaSchool of Intelligent Science and Engineering, Hubei Minzu University, Enshi 445000, ChinaSchool of Intelligent Science and Engineering, Hubei Minzu University, Enshi 445000, ChinaSchool of Intelligent Science and Engineering, Hubei Minzu University, Enshi 445000, ChinaSchool of Intelligent Science and Engineering, Hubei Minzu University, Enshi 445000, ChinaTo address the issues of poor environmental adaptability and high costs associated with traditional methods of measuring water body boundaries, this paper proposes an innovative path planning approach for water body boundary measurement based on Unmanned Surface Vehicles (USVs)—the Chemotactic Search Traversal (CST) algorithm. This method incorporates the chemotaxis operation mechanism of the Bacterial Foraging Optimization algorithm, integrating it with high-resolution grid maps to enable efficient traversal and accurate measurement of water body boundaries within large-scale grid environments. Simulation experiments demonstrate that the CST algorithm outperforms the Brute Force Algorithm (BFA), Roberts operator, Canny operator, Log operator, Prewitt operator, and Sobel operator in terms of optimal pathfinding, stability, and path smoothness. The feasibility and reliability of this algorithm in real water environments are validated through experiments conducted with actual USVs. These findings suggest that the CST algorithm not only enhances the accuracy and efficiency of water body boundary measurement but also offers a cost-effective and practical solution for measuring water body areas.https://www.mdpi.com/2077-1312/13/5/958USVhigh-resolution grid mapwater body boundary measurementpath planningchemotaxis |
| spellingShingle | Jiao Deng Yang Long Jiming Zhang Hang Gao Song Liu A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles Journal of Marine Science and Engineering USV high-resolution grid map water body boundary measurement path planning chemotaxis |
| title | A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles |
| title_full | A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles |
| title_fullStr | A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles |
| title_full_unstemmed | A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles |
| title_short | A Water Body Boundary Search Method Combining Chemotaxis Mechanism and High-Resolution Grid Based on Unmanned Surface Vehicles |
| title_sort | water body boundary search method combining chemotaxis mechanism and high resolution grid based on unmanned surface vehicles |
| topic | USV high-resolution grid map water body boundary measurement path planning chemotaxis |
| url | https://www.mdpi.com/2077-1312/13/5/958 |
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