Autonomous exploration and navigation of mine countermeasures USV in complex unknown environment

With the development of autonomous control technology for unmanned surface vehicle (USV), its role in the military field has become more and more prominent. The autonomous control technology of mine countermeasures USV (MCM USV) is part of the current research hotspots. Aiming at the application scenario of the MCM USV performing minesweeping tasks in unfamiliar seas, an MCM USV path planner with autonomous exploration, real-time obstacle avoidance, and autonomous mine elimination capabilities is designed, and the training is carried out by layered reinforcement learning. Use the Unity physics engine to build a simulation environment, abstract and model mines, reefs, dynamic obstacles, etc., and build an unmanned boat model with environmental awareness and autonomous decision-making capabilities. Experimental verification shows the effectiveness of the path planner in dealing with dynamic and complex water exploration problems.