自主帆船在非均匀和时变海洋中的覆盖路径规划：一种时空优化方法
Coverage Path Planning for Autonomous Sailboats in Inhomogeneous and Time-Varying Oceans: A Spatiotemporal Optimization Approach
AI总结：
本文提出了一种专为自主帆船设计的时空优化方法，解决非均匀和时变海洋环境中的覆盖路径规划问题，通过空间拓扑约束和时间预测规划提升覆盖效率。
摘要：
自主帆船由于其风驱耐力，非常适合长时间海洋观测。然而，其性能高度各向异性和强烈受非均匀和时变风场和洋流场影响，限制了现有覆盖方法如回字形扫掠的有效性。在这些环境和操作约束下进行规划仍属研究不足。本文提出了一种专为自主帆船设计的时空覆盖路径规划框架，结合（1）空间域中的拓扑基于形态学约束以促进紧凑和连续的覆盖，以及（2）时间域中的预测感知前瞻规划以预测环境演变并实现前瞻性决策。在随机非均匀和时变海洋环境中进行的模拟，包括部分方向可及性场景，表明所提出的方法生成了高效且可行的覆盖路径，而传统策略往往失效。据我们所知，本研究为在非均匀和时变海洋环境中运行的自主帆船提供了首次专门的覆盖路径规划解决方案，为未来多帆船协同覆盖奠定了基础。
英文摘要：
Autonomous sailboats are well suited for long-duration ocean observation due to their wind-driven endurance. However, their performance is highly anisotropic and strongly influenced by inhomogeneous and time-varying wind and current fields, limiting the effectiveness of existing coverage methods such as boustrophedon sweeping. Planning under these environmental and maneuvering constraints remains underexplored. This paper presents a spatiotemporal coverage path planning framework tailored to autonomous sailboats, combining (1) topology-based morphological constraints in the spatial domain to promote compact and continuous coverage, and (2) forecast-aware look-ahead planning in the temporal domain to anticipate environmental evolution and enable foresighted decision-making. Simulations conducted under stochastic inhomogeneous and time-varying ocean environments, including scenarios with partial directional accessibility, demonstrate that the proposed method generates efficient and feasible coverage paths where traditional strategies often fail. To the best of our knowledge, this study provides the first dedicated solution to the coverage path planning problem for autonomous sailboats operating in inhomogeneous and time-varying ocean environments, establishing a foundation for future cooperative multi-sailboat coverage.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
