Time-constrained Multiple Unmanned Surface Vehicles Cooperation for Sea Surface Oil Pollution Cleanup

In view of the demand of multiple unmanned surface vehicles cooperative sea surface oil pollution cleaning under time constraints, a method to find the optimal number of unmanned surface vehicles is proposed. Firstly, perform image processing on the oil pollution image, and the path planning of the unmanned surface vehicle is carried out by using the self-defined right-angle path planning method. Secondly, the oil pollution area is calculated by simulating the change of oil pollution image after cleaning in a fixed period. Then, it iteratively calculates the total time length of oil pollution cleaning by different number of unmanned surface vehicles, and obtains the optimal number of unmanned surface vehicles by comparing the time constraint conditions. Finally, the effectiveness of the method is verified by an example, and the optimal number of unmanned surface vehicles can be obtained.