Coordinated Oil Pollution Cleaning of Unmanned Surface Vehicle Under Multiple Constraints

To address the needs of multiple unmanned surface vehicles (USVs) to coordinate oil stain clean-up assignment on the sea surface. This paper proposes an optimal combination method for finding the number of USVs and the cleaning time. First, through image processing of oil pollution images, a custom right-angle route planning method is used to plan the path of the unmanned surface vehicles. Secondly, by simulating multiple USVs collaborative cleaning oil stain picture changes. The rent cost, fuel consumption cost and oil pollution volatilization treatment cost are calculated. Then consider the constraints of oil pollution area, oil stain volatilization and the number of USVs. To minimize the total cost, find the optimal combination of the number of USVs and cleaning period. At last, the simulation experiments are carried out to verify the effectiveness of the method.