{
  "$type": "site.standard.document",
  "coverImage": {
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  "description": "Disclosed is a coverage path planning method for multiple unmanned surface mapping vehicles, comprising: simultaneously creating submaps and an overall map; outputting its own position information and obstacle information, transmitting to and updating defining a behavior strategy list (BS)…",
  "path": "/patents/1433768",
  "publishedAt": "2026-06-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0206",
    "WUHAN UNIVERSITY OF TECHNOLOGY"
  ],
  "textContent": "Disclosed is a coverage path planning method for multiple unmanned surface mapping vehicles, comprising: simultaneously creating submaps and an overall map; outputting its own position information and obstacle information, transmitting to and updating defining a behavior strategy list (BS); determining the BS with priority for path planning, outputting a to or th state if any criterion is satisfied; when trapped in a local optimum, updating map layers layer-by-layer going upwards, searching for tp in the corresponding layers, performing a BS determination, and outputting a tr instruction; if no target point is found even at the highest layer, checking each CS∈{FN,UFN}, and determining a termination. As such, the coverage rate and coverage effect of multiple unmanned surface mapping vehicles in a complex environment can be increased, thus increasing the operational efficiency of the unmanned surface mapping vehicles.",
  "title": "Coverage path planning method for multiple unmanned surface mapping vehicles"
}