Development of Algal Bloom Removal System Using Unmanned Aerial Vehicle and Surface Vehicle

Recently, owing to changes in weather conditions, cyanobacterial blooms, also known as harmful algal blooms (HABs), have caused serious damage to the ecosystems of rivers and lakes by producing cyanotoxins. In this paper, for the removal of HABs, an algal bloom removal robotic system (ARROS) is proposed. The ARROS has been designed with a catamaran-type unmanned surface vehicle (USV) and an algae-removal device attached below. In addition, electrical control systems and a guidance, navigation, and control (GNC) system are implemented on the ARROS to remove the algal bloom autonomously. Moreover, to increase the efficiency of the work, an unmanned aerial vehicle (UAV) is utilized and the system detects algal blooms with an image-based detection algorithm, which is known as a local binary pattern. The overall mission begins with a command from a server when the UAV detects an algal bloom, and the USV follows the given path autonomously generated by a coverage path planning algorithm. Subsequently, with an electrocoagulation and floatation reactor under the USV, HABs are removed. The performance of the algal bloom detection and HABs removal is verified through outdoor field tests in Daecheong Dam, South Korea.