Aiming at the shortcomings of the existing control law based on the global information, this article studies the coverage problem of a given region in the plane using a team of USVs. The coverage goal, which is to cover a given search domain using multiple mobile sensors so that each point is surveyed until a certain preset level is achieved, is formulated in a mathematically precise problem statement. The adaptive control law is presented which enables multi-USV to navigate in a complex environment in the presence of unknown obstacles and guarantees that a fully connected multi-USV system attains the coverage goal. In particular, the dangerous area was divided into two different parts in order to enhance the searching efficiency. Finally, simulation results are presented to validate the feasibility and efficiency of the proposed approach.

针对现有基于全局信息的控制律的不足，本文利用一组USV研究平面内给定区域的覆盖问题。覆盖目标是使用多个移动传感器覆盖给定的搜索域，以便对每个点进行调查，直到达到某个预设水平，在数学上精确的问题陈述中进行了表述。提出了自适应控制律，使多USV能够在存在未知障碍物的复杂环境中导航，并保证完全连接的多USV系统达到覆盖目标。特别是危险区域被分成了两个不同的部分，以提高搜索效率。最后，通过仿真结果验证了所提出方法的可行性和有效性。