Coverage Path Planning Based on Improved Exact Cellular Decomposition Method in Ocean Survey

In order to improve coverage traversal efficiency of ocean survey for AUV, an improved exact cellular decomposition method is proposed. It combines exact cellular decomposition method and Differential Evolution, which reduce the task execution time and alleviate the problem of energy shortage due to obtaining the optimal cells traversal order. The simulation results verify that the improved exact cellular decomposition method performs better than exact cellular decomposition method in coverage path planning task.