Coverage search for UUV in unknown underwater environments

Aiming at the problem of coverage search for Unmanned Underwater Vehicle (UUV) in unknown underwater environments, this paper proposes South-First (SF) coverage algorithm based on the scanning line. A template-based patrol marking method is proposed to solve the problem of marking obstacles. For the deadlock situation, a backtracking mechanism is established, and the improved A* algorithm is used to plan the escape path from the dead point to the backtracking point. Simulation experiments show that SF algorithm can complete the coverage search of the unknown area, and the generated path have less steering times, which is suitable for UUV coverage search.