A safe channel planning algorithm for unmanned boats for anti-mine tasks

When the surface ship team performs a voyage mission, it will face the threat of several mines deployed by the enemy. By performing the sea sweeping task with the pre-sequence surface unmanned boat, the position information of the mine target in the task area can be obtained. The safe channel planning is achieved furtherly, so as to provide stable and reliable multiple crossing channels for subsequent boat groups. In this paper, we completed the abstract modeling of the anti-mine scene combined with the actual sailing scene, and a channel planning algorithm based on depth-first search was proposed. At the same time, a channel evaluation scheme was formed. The feasibility and effectiveness of the method were verified through simulation experiments.