Cooperative Path Planning of Multiple Unmanned Surface Vehicles for Search and Coverage Task

This paper solves the problem of cooperative path planning multiple unmanned surface vehicles (USVs) for search and coverage tasks in water environments. Firstly, taking pollutants as an example, information concentration map is built to predict diffusion pollutants. Secondly, we propose a region division method based on Voronoi diagram, which divides assigns it each vehicle (USV). Then, basis traditional Model Predictive Control (MPC), future reward index regional centroid introduced, Improved Salp Swarm Algorithm (ISSA) used solve MPC. Simulation results show effectiveness proposed method.