Update README.md

.idea/.gitignore

@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml

.idea/SeAIPalette.iml

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-  <component name="PyDocumentationSettings">
-    <option name="format" value="PLAIN" />
-    <option name="myDocStringFormat" value="Plain" />
-  </component>
-</module>

.idea/inspectionProfiles/Project_Default.xml

@@ -1,13 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <profile version="1.0">
-    <option name="myName" value="Project Default" />
-    <inspection_tool class="PyUnresolvedReferencesInspection" enabled="true" level="WARNING" enabled_by_default="true">
-      <option name="ignoredIdentifiers">
-        <list>
-          <option value="runtest.ImageEditorPage" />
-          <option value="ImageEditorPage" />
-        </list>
-      </option>
-    </inspection_tool>
-  </profile>
-</component>

.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

.idea/misc.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (Palette)" project-jdk-type="Python SDK" />
-</project>

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/SeAIPalette.iml" filepath="$PROJECT_DIR$/.idea/SeAIPalette.iml" />
-    </modules>
-  </component>
-</project>

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$" vcs="Git" />
-  </component>
-</project>

MainWindow_map.py

@@ -2,8 +2,10 @@
 
 # Form implementation generated from reading ui file 'MainWindow_map.ui'
 #
-# Created by: PyQt5 UI code generator 5.12.3
-# WARNING! All changes made in this file will be lost!
+# Created by: PyQt5 UI code generator 5.15.1
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic5 is
+# run again.  Do not edit this file unless you know what you are doing.
 
 
 from PyQt5 import QtCore, QtGui, QtWidgets
@@ -94,9 +96,6 @@ class Ui_MainWindow(object):
         self.horizontalLayout.addLayout(self.formLayout_2)
         self.verticalLayout_2 = QtWidgets.QVBoxLayout()
         self.verticalLayout_2.setObjectName("verticalLayout_2")
-        self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget)
-        self.pushButton_2.setObjectName("pushButton_2")
-        self.verticalLayout_2.addWidget(self.pushButton_2)
         self.pushButton_run = QtWidgets.QPushButton(self.centralwidget)
         font = QtGui.QFont()
         font.setFamily("宋体")
@@ -111,13 +110,6 @@ class Ui_MainWindow(object):
         self.pushButton_stop.setFont(font)
         self.pushButton_stop.setObjectName("pushButton_stop")
         self.verticalLayout_2.addWidget(self.pushButton_stop)
-        self.pushButton = QtWidgets.QPushButton(self.centralwidget)
-        font = QtGui.QFont()
-        font.setFamily("宋体")
-        font.setPointSize(12)
-        self.pushButton.setFont(font)
-        self.pushButton.setObjectName("pushButton")
-        self.verticalLayout_2.addWidget(self.pushButton)
         self.horizontalLayout.addLayout(self.verticalLayout_2)
         self.horizontalLayout.setStretch(0, 1)
         self.horizontalLayout.setStretch(1, 1)
@@ -157,8 +149,6 @@ class Ui_MainWindow(object):
         self.label_9.setText(_translate("MainWindow", "移动节点电池容量"))
         self.lineEdit_bettery.setText(_translate("MainWindow", "100"))
         self.label_4.setText(_translate("MainWindow", "算法选择"))
-        self.pushButton_2.setText(_translate("MainWindow", "关于我们"))
         self.pushButton_run.setText(_translate("MainWindow", "运行"))
         self.pushButton_stop.setText(_translate("MainWindow", "停止"))
-        self.pushButton.setText(_translate("MainWindow", "退出程序"))
         self.label_show.setText(_translate("MainWindow", "<html><head/><body><p><br/></p></body></html>"))

MainWindow_map.ui

@@ -157,13 +157,6 @@
         </item>
         <item>
          <layout class="QVBoxLayout" name="verticalLayout_2">
-          <item>
-           <widget class="QPushButton" name="pushButton_2">
-            <property name="text">
-             <string>关于我们</string>
-            </property>
-           </widget>
-          </item>
           <item>
            <widget class="QPushButton" name="pushButton_run">
             <property name="font">
@@ -190,19 +183,6 @@
             </property>
            </widget>
           </item>
-          <item>
-           <widget class="QPushButton" name="pushButton">
-            <property name="font">
-             <font>
-              <family>宋体</family>
-              <pointsize>12</pointsize>
-             </font>
-            </property>
-            <property name="text">
-             <string>退出程序</string>
-            </property>
-           </widget>
-          </item>
          </layout>
         </item>
        </layout>

Palette/algos/charge.py

@@ -12,6 +12,7 @@ class Charge(WildFire):
 
     def step(self, state, info):
         if not self.empty():
+            # if there're actions to do
             action = self.actions_to_do[0]
             del self.actions_to_do[0]
             return action, None

Palette/algos/multi_boustrophedon.py

@@ -23,6 +23,9 @@ class MultiBoustrophedon(Boustrophedon):
         self.charges = charges
         self.finished_idx = [False for _ in range(ship_num)]
 
+        #self.ship_energy = ship_energy
+        #self.current_ship_energy = [ship_energy for _ in range(self.ship_num)]
+
         self.delta_x = (0,  0, 1, -1, )  # 1,  1, -1, -1)
         self.delta_y = (1, -1, 0,  0, )  # 1, -1,  1, -1)
 

Palette/algos/multi_greedy.py

@@ -43,6 +43,8 @@ class MultiGreedy(Boustrophedon):
                 if self.charges[i].empty():
                     redecide_directions[i] = True
                 continue
+
+            # Decide whether charge or not
             first_charge_act, charge_len = self.charges.step(state, info, i)
             if first_charge_act == FINISHED:
                 self.finished_idx[i] = True

Palette/algos/multi_spiral.py

@@ -18,10 +18,13 @@ class MultiSpiral(Spiral):
     ):
         super().__init__()
         self.ship_num = ship_num
+        # self.dest_direction = [None for _ in range(ship_num)]
         self.wildfires = wildfires
         self.charges = charges
         self.finished_idx = [False for _ in range(ship_num)]
 
+        #self.ship_energy = ship_energy
+        #self.current_ship_energy = [ship_energy for _ in range(self.ship_num)]
 
         self.delta_x = [0,  0, 1, -1, 1,  1, -1, -1]
         self.delta_y = [1, -1, 0,  0, 1, -1,  1, -1]

Palette/algos/spiral.py

@@ -149,6 +149,7 @@ class Spiral(object):
             """
             return _turn(direction)
         else:
+            # print(f'not turn')
             return direction
 
     def step(self, state, info):

Palette/algos/wildfire.py

@@ -7,8 +7,8 @@ class WildFire(object):
     def __init__(self):
         super().__init__()
         self.actions_to_do = []
-        self.delta_x = (0,  0, 1, -1, )
-        self.delta_y = (1, -1, 0,  0, )
+        self.delta_x = (0,  0, 1, -1, )  # 1,  1, -1, -1)
+        self.delta_y = (1, -1, 0,  0, )  # 1, -1,  1, -1)
 
     @ staticmethod
     def _is_valid_index(index, an_array):
@@ -23,9 +23,12 @@ class WildFire(object):
 
     def step(self, state, info):
         if not self.empty():
+            # if there're actions to do
             action = self.actions_to_do[0]
             del self.actions_to_do[0]
             return [action]
+
+        # print(state)
         x, y, _ = state
         fields = info['fields']
 
@@ -46,6 +49,7 @@ class WildFire(object):
                     visited[next_x, next_y] = True
                     next_node = Node(next_x, next_y, cur_node)
                     if fields[next_x, next_y] == 0:
+                        # not visited
                         node = next_node
                         while node.direction is not None:
                             self.actions_to_do.append(node.direction)

Palette/env/engine.py

@@ -29,7 +29,7 @@ class SeaEnvEngine(object):
         ship_radius: int,
         ship_velocity: int,
 
-        sonar_spread_times: int,
+        sonar_spread_times: int,    # the number of sonar detection points
 
         obstacles: dict,
 
@@ -38,7 +38,7 @@ class SeaEnvEngine(object):
         show_fields: bool = True,
 
         init_ships: bool = True,
-        start_position=None,
+        start_position=None,  # [start_x, start_y]
         start_r=None,
 
         time_click: float = 1.0/10.0,
@@ -57,8 +57,8 @@ class SeaEnvEngine(object):
 
         self.max_angle, self.min_angle = None, None
 
-
-        self.crashed = False
+        # basic params
+        self.crashed = False    # whether or not crash into an obstacle or bound
         self.finished = False
         self.terminate = False
 
@@ -100,9 +100,12 @@ class SeaEnvEngine(object):
             self.ship_img = pygame.transform.scale(
                 self.ship_img, (self.ship_radius * 4, self.ship_radius * 4))
         """ 2. init gymunk """
+        # physics stuff
         self.space = pymunk.Space()
         self.space.gravity = pymunk.Vec2d(0., 0.)
-
+        # create bounds
+        # self.create_bounds(window_height, window_width)
+        # create ship
         self.finished_idx = None
         self.init_ships = init_ships
         self.battery_capacity = None
@@ -121,6 +124,7 @@ class SeaEnvEngine(object):
         self.fields = np.zeros(
             shape=(self.window_width//field_size[0], self.window_height//field_size[1]))
 
+        # create obstacles
         self.obstacles = []
         self.obstacles_w_h = []
         for obstacle_key in obstacles.keys():
@@ -128,6 +132,7 @@ class SeaEnvEngine(object):
             cur_obstacle = self.create_rectangle_obstacle(x, y, width, height)
             self.obstacles.append(cur_obstacle)
             self.obstacles_w_h.append((width, height))
+            # label the position of obstacles as -1
             for i in range(x//self.field_size[0], (x+width)//self.field_size[0]):
                 for j in range(y//self.field_size[1], (y+height)//self.field_size[1]):
                     self.fields[i, self.fields.shape[1]-j-1] = -1
@@ -195,6 +200,7 @@ class SeaEnvEngine(object):
         for s in static:
             s.friction = 1.
             s.group = 1
+            # bound is the same as obstacle for collision
             s.collision_type = COLLISION_OBSTACLE
             s.color = THECOLORS['blue']
         self.space.add(*static)
@@ -224,8 +230,10 @@ class SeaEnvEngine(object):
         self._ship_charging_time_left = [0 for _ in range(self.ship_num)]
 
     def create_rectangle_obstacle(self, x, y, width, height):
+        # points = [(0, 0), (0, height), (width, height), (width, 0)]
         points = [(-width/2, -height/2), (-width/2, height/2),
                   (width/2, height/2), (width/2, -height/2)]
+        # points = [(-width, -height), (-width, 0), (0, 0), (0, -height)]
         mass = 9999999999
         moment = pymunk.moment_for_poly(mass, points, (0, 0))
         obstacle_body = pymunk.Body(mass=mass, moment=moment)
@@ -247,7 +255,7 @@ class SeaEnvEngine(object):
         return self._ship_batteries[ship_id]
 
     def frame_step(self, actions: List[int]):
-        """
+        """frame update for one step
 
         Args:
             action (int): the next direction of the ship
@@ -262,11 +270,11 @@ class SeaEnvEngine(object):
             raise AssertionError("Cannot continue running after crash!")
 
         for ship_id, action in enumerate(actions):
-            if action == UP:
+            if action == UP:  # up
                 self._ship_charging[ship_id] = False
                 self._ship_charging_time_left[ship_id] = 0
                 self.ship_body[ship_id].angle = 1.5*np.pi
-            elif action == DOWN:   
+            elif action == DOWN:   # down
                 self._ship_charging[ship_id] = False
                 self._ship_charging_time_left[ship_id] = 0
                 self.ship_body[ship_id].angle = 0.5*np.pi
@@ -354,6 +362,7 @@ class SeaEnvEngine(object):
 
             self.ship_body[ship_id].angle = process_angle(
                 self.ship_body[ship_id].angle)
+            # calculate velocity with direction
             driving_direction = Vec2d(1, 0).rotated(
                 self.ship_body[ship_id].angle)
 
@@ -363,7 +372,7 @@ class SeaEnvEngine(object):
             else:
                 self.ship_body[ship_id].velocity = 0.0 * driving_direction
 
-        # Update the screen and stuff
+        # Update the screen and stuff.
         if self.draw_screen:
             # self.screen.fill(THECOLORS["black"])
             self.screen.blit(self.ss_img, (0, 0))

Palette/env/sea_env.py

@@ -109,7 +109,13 @@ def make(
     filling_time: int = 1,
     cover_ratio: float = 1.0
 ):
-
+    """
+    if not render:
+        os.environ["SDL_VIDEODRIVER"] = "dummy"
+    else:
+        os.environ["DISPLAY"] = os.popen(
+            'printenv grep DISPLAY').read().strip()
+    """
 
     with open(os.path.join('Palette', 'maps', f'{env_config}.yaml'), 'r') as f:
         config = yaml.safe_load(f)
@@ -154,5 +160,5 @@ if __name__ == '__main__':
 
         if t:
             break
-
+            # sea_env.reset()
     print(steps)

Palette/env/utils.py

@@ -1,4 +1,5 @@
 import numpy as np
+import random
 
 from math import acos, asin
 
@@ -17,9 +18,12 @@ def process_angle(_angle):
 
 def asincos(sin_value, cos_value):
     if sin_value >= 0:
+        # 第一象限和第二象限
         return acos(cos_value)
     else:
         if cos_value >= 0:
+            # 第四象限
             return asin(sin_value)
         else:
+            # 第三象限
             return 2*np.pi - acos(cos_value)

Palette/examples/charge_multi_split_wildfire_boustrophedon.py

@@ -17,6 +17,7 @@ def generate_agent_fields(fields, ship_num, splited_areas):
                              for _ in range(ship_num)], axis=0)
     for ship_id in range(1, ship_num+1):
         cur_fields = agents_fields[ship_id-1]
+        # print((splited_areas != ship_id) * (splited_areas != -1))
         cur_fields[(splited_areas != ship_id) * (splited_areas != -1)] += 1
     return agents_fields
 

Palette/examples/charge_multi_split_wildfire_greedy.py

@@ -17,6 +17,7 @@ def generate_agent_fields(fields, ship_num, splited_areas):
                              for _ in range(ship_num)], axis=0)
     for ship_id in range(1, ship_num+1):
         cur_fields = agents_fields[ship_id-1]
+        # print((splited_areas != ship_id) * (splited_areas != -1))
         cur_fields[(splited_areas != ship_id) * (splited_areas != -1)] += 1
     return agents_fields
 
@@ -28,6 +29,7 @@ def main(env: SeaEnv, agent: MultiGreedy):
     while True:
         steps += 1
         info['redecide_direction'] = redecide_direction
+        # print(np.sum(info['fields'] == 0))
         agents_fields = generate_agent_fields(
             info['fields'], env.ship_num, env.splited_areas)
         agent_info = deepcopy(info)

Palette/examples/charge_multi_split_wildfire_spiral.py

@@ -17,6 +17,7 @@ def generate_agent_fields(fields, ship_num, splited_areas):
                              for _ in range(ship_num)], axis=0)
     for ship_id in range(1, ship_num+1):
         cur_fields = agents_fields[ship_id-1]
+        # print((splited_areas != ship_id) * (splited_areas != -1))
         cur_fields[(splited_areas != ship_id) * (splited_areas != -1)] += 1
     return agents_fields
 

Palette/examples/multi_split_wildfire_boustrophedon.py

@@ -18,6 +18,7 @@ def generate_agent_fields(fields, ship_num, splited_areas):
                              for _ in range(ship_num)], axis=0)
     for ship_id in range(1, ship_num+1):
         cur_fields = agents_fields[ship_id-1]
+        # print((splited_areas != ship_id) * (splited_areas != -1))
         cur_fields[(splited_areas != ship_id) * (splited_areas != -1)] += 1
     return agents_fields
 

Palette/examples/split.py

@@ -25,6 +25,8 @@ def main(env: SeaEnv, agent: Union[Boustrophedon, Spiral], wildfire: WildFire):
         redecide_direction = True
         cur_area_terminate = False
         while True:
+            # for _ in range(9999999):
+            #    continue
             info['redecide_direction'] = redecide_direction
             modified_fields = deepcopy(info['fields'])
             modified_fields += ((splited_area != area_id)

Palette/maps/map0.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles:
+  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
     obstacle0: [100, 100, 100, 200]
     obstacle1: [300, 160, 120, 120]
     obstacle2: [460, 460, 120, 120]

Palette/maps/map1.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles:
+  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
     obstacle0: [100, 600, 100, 200]
     obstacle1: [300, 360, 120, 120]
     obstacle2: [660, 460, 120, 120]

Palette/maps/map2.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles:
+  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
     obstacle0: [100, 600, 100, 200]
     obstacle1: [300, 260, 120, 320]
     obstacle2: [660, 460, 120, 120]

Palette/maps/map_actual.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 1
   ship_velocity: 40
   sonar_spread_times: !!int 40
-  obstacles: 
+  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
     obstacle0: [40, 440, 340, 220]
     obstacle1: [100, 160, 300, 180]
     obstacle2: [300, 40, 100, 60]

Palette/maps/map_actual_show.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles:
+  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
     obstacle0: [40, 440, 340, 220]
     obstacle1: [100, 160, 300, 180]
     obstacle2: [300, 40, 100, 60]

Palette/maps/map_actual_with_around.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 1
   ship_velocity: 40
   sonar_spread_times: !!int 40
-  obstacles:
+  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
     obstacle0: [40, 440, 340, 220]
     obstacle1: [100, 160, 300, 180]
     obstacle2: [300, 40, 100, 60]

Palette/maps/map_actual_with_around_show.yaml

@@ -7,7 +7,7 @@ env:
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles:
+  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
     obstacle0: [40, 440, 340, 220]
     obstacle1: [100, 160, 300, 180]
     obstacle2: [300, 40, 100, 60]

Palette/maps/multi_map0.yaml

@@ -3,11 +3,16 @@ env:
   window_width: !!int 1000
   window_height: !!int 1000
   field_size: [20, 20]
-
+  #start_position:
+  #  ship0: [10, 10]
+  #  ship1: [990, 990]
+  #start_r:
+  #  ship0: !!float 0.0 # pi
+  #  ship1: !!float 1.0 # pi
   ship_radius: !!int 5
   ship_velocity: 200
   sonar_spread_times: !!int 40
-  obstacles:
+  obstacles: # name: [x of the left bottom, y of the left bottom, width, height]
     obstacle0: [100, 100, 100, 200]
     obstacle1: [300, 160, 120, 120]
     obstacle2: [460, 460, 120, 120]

README.md

@@ -4,16 +4,16 @@ SeAI Palette集智调色板是面向集群网络的多节点智能协同路径
 
 集智调色板软件设计了参数输入模块、算法运行模块及信息输出模块，在不同节点数量要求的前提下划分区域方向，按区域进行算法的运行。并可以综合考虑固定节点、覆盖率、电池容量等条件下，给出运行步数、重复步数和重复率等等性能指标。
 
-软件界面简单，易学易用，包含参数的输入选择，程序的运行，算法结果的展示等，源代码公开，算法可修改。
+软件界面简单，易学已用，包含参数的输入选择，程序的运行，算法结果的展示等，源代码公开，算法可修改。
 
-开发人员：王凯、于化鹏、李晶、王兆琦、李慧涛、赵志允、张乐飞、陈光
+开发人员：H.P. Yu、K. Wang、J. Li、H.T. Li、Z.Q. Wang、Z.Y. Zhao、L.F. Zhang、G. Chen
 
 ## 1. 开发环境配置
 运行以下命令：
 ```bash
 conda env create -f create_env.yaml
 ```
-该命令会根据create_env.yaml配置文件创建一个名为`Palette`的conda虚拟环境，继续输入`conda activate Palette`即可激活该虚拟环境。
+该命令会创建一个名为`Palette`的conda虚拟环境，用`conda activate Palette`即可激活该虚拟环境。
 
 
 ## 2. 软件运行
@@ -21,8 +21,125 @@ conda env create -f create_env.yaml
 ```python
 python main_tt.py
 ```
-## 3. 一些说明
-1. 关于程序输出的说明
+## 3. 问题定义和仿真设计
+1）环境设计
+
+环境依赖方面，仿真平台主要基于Python平台实现。具体地，物理仿真引擎使用的是Pymunk，并将物理仿真结果Pygame渲染成可视化结果。此外，在数值计算方面主要使用了Numpy工具包。
+
+为保证实验结果综合客观，仿真平台包含了三张虚构的海图。
+
+2）方案设计
+
+主要考虑了三种方案：
+
+单AUV全覆盖路径规划，即只规划单个AUV的全覆盖路径；
+
+多AUV全覆盖路径规划，即需要同时规划多个AUV相互配合情况下的全覆盖路径；
+
+需要充电的单/多AUV路径规划，即在上面两种方案的基础上，额外考虑AUV的充电的需要，AUV可根据能量情况自行前往充电桩进行充电，降低人工打捞充电带来的巨大运维成本。
+
+针对以上三种方案，分别设计了仿真实验测试在不同目标覆盖率下，AUV使用不同算法巡航海域所需的总时间以及重复航行区域的大小。
+
+## 4. 使用算法
+
+* 栅格法
+* 牛耕法
+* 内螺旋法
+* 贪心法
+
+## 5. 软硬件运行平台
+
+（1）配置要求
+
+<table>
+  <tr>
+    <th>组件</th>
+    <th>配置</th>
+    <th>备注</th>
+  </tr>
+  <tr>
+    <td>系统 </td>
+    <td>Windows 10 家庭中文版 20H2 64位</td>
+    <td>扩展支持Linux和Mac系统</td>
+  </tr>
+  <tr>
+    <td>处理器</td>
+    <td>处理器类型：
+酷睿i3兼容处理器或速度更快的处理器
+处理器速度：
+最低：1.0GHz
+建议：2.0GHz或更快
+</td>
+    <td>不支持ARM、IA64等芯片处理器</td>
+  </tr>
+  <tr>
+    <td>内存</td>
+    <td>RAM	16.0 GB (15.7 GB 可用)</td>
+    <td></td>
+  </tr>
+<tr>
+    <td>显卡</td>
+    <td>最小：核心显卡
+推荐：GTX1060或同类型显卡
+</td>
+    <td></td>
+  </tr>
+<tr>
+    <td>硬盘</td>
+    <td>500G</td>
+    <td></td>
+  </tr>
+<td>显示器</td>
+    <td>3840×2160像素，高分屏</td>
+    <td></td>
+  </tr>
+<tr>
+   </tr>
+<td>软件</td>
+    <td>Anaconda3 2020及以上</td>
+    <td>Python3.7及以上，需手动安装包</td>
+  </tr>
+</table>
+
+（2）手动部署搭建及运行
+推荐的安装步骤如下：
+安装Anaconda3-2020.02-Windows-x86_64或以上版本；
+手动安装pygame、pymunk、pyyaml、numpy、easydict和pyqt，安装方式推荐参考如下：
+```
+pip install -i https://pypi.tuna.tsinghua.edu.cn/simple pygame==2.0.1
+```
+将软件模块文件夹拷贝到电脑中（以D盘为例，路径为D:\island-multi_ships）
+
+## 6. 模块详细设计
+（1）界面设计
+界面总体设计如下：
+
+![主界面展示](https://osredm.com/repo/SeAIPalette/SeAIPalette/raw/branch/master/pic2/3.png)
+
+为了操作简便，主界面只分为功能选择区和信息输出区以及“运行”、“停止”按钮。功能选择区涵盖“地图选择”、“最低覆盖率”、“AUV数量”、“区域划分方向”、“算法选择”、“是否渲染”、“考虑固定节点”、“是否需要充电”和与之相关联的“AUV电池容量”。
+信息输出区主要包含当前运行的相关信息，包括状态标志、运行完成标志、步数、重复步数、重复率等。
+
+（2）地图0演示
+采用“牛耕法”，最低覆盖率100%，AUV数量为1，运行结果如下，步数2373，重复步数60，重复率2.40%。
+
+![D:\pic](https://osredm.com/repo/SeAIPalette/SeAIPalette/raw/branch/master/pic2/40.png)
+
+当“是否渲染”选择“否”时，物理引擎图形不展示，程序后台静默运行后自动输出相关状态及结果信息。
+
+![D:\pic](https://osredm.com/repo/SeAIPalette/SeAIPalette/raw/branch/master/pic2/4.jpg)
+ 
+
+当AUV数量为3时，使用的步数大大减少，仅需要706步，重复步数为38，重复率1.52%。
+![D:\pic](https://osredm.com/repo/SeAIPalette/SeAIPalette/raw/branch/master/pic2/7.jpg)
+![D:\pic](https://osredm.com/repo/SeAIPalette/SeAIPalette/raw/branch/master/pic2/8.jpg)
+  
+算法选择“贪心法”，使用的步数705，重复步数33，重复率1.32%，和“牛耕法”相同。
+  
+当考虑充电时，设置电池容量为100，使用的步数964，重复步数709，重复率28.36%。
+
+## 7. 其他说明
+
+* 程序输出的说明
 
     程序运行结束后会在命令行输出类似于下面的结果：
     ```
@@ -34,7 +151,7 @@ python main_tt.py
     ```
     分别为使用的步数，重复的步数和重复率。
 
-2. 关于渲染结果的说明
+* 关于渲染结果的说明
 
     渲染中不同移动节点负责的区域用不同颜色标记，每个区域颜色越深表示该区域被重复走的次数越多。
 

main_tt.py

@@ -3,6 +3,7 @@ from MainWindow_map import Ui_MainWindow
 from PyQt5 import QtWidgets, QtCore, QtSql, QtGui
 from PyQt5.QtWidgets import *
 from PyQt5.QtCore import *
+from PyQt5.QtGui import QPixmap
 
 import threading, time, subprocess
 
@@ -121,5 +122,6 @@ class mywindow(QtWidgets.QMainWindow, Ui_MainWindow):
 if __name__ == '__main__':
     app = QApplication(sys.argv)
     window = mywindow()
+    # window.showMaximized()
     window.show()
     sys.exit(app.exec_())