Path Planning of Oil Spill Recovery System With Double USVs Based on Artificial Potential Field Method

Liao, Yulei; Tang, Xiaoyu; Chen, Congcong; Ren, Zijia; Pang, Shuo; Zhang, Guocheng

doi:10.1007/s11804-024-00437-y

J. Marine. Sci. Appl.

2024

DOI: 10.1007/s11804-024-00437-y

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Path Planning of Oil Spill Recovery System With Double USVs Based on Artificial Potential Field Method

Yulei Liao,

Xiaoyu Tang,

Congcong Chen

et al.

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Cited by 1 publication

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Research on double‐USVs fuzzy‐priority NSB behavior fusion formation control method for oil spill recovery

Chen,

Liao,

Tang

et al. 2024

Journal of Field Robotics

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Replacing manned ships with unmanned surface vehicle (USV) for oil spill containment can reduce the consumption of manpower and resources. This article studies the formation control method of dual USVs during the process of capturing oil spill, based on the engineering background of towing oil boom by dual USVs oil spill recovery system. To calculate the drag force of the oil boom acting on the USV, the shape of the oil boom is simplified into a catenary, the oil boom is modeled, and the hydrodynamic numerical simulation is carried out. To address the issue of “winding” phenomenon and “towing separation,” the formation behavior is designed when double USVs are towing oil fences to capture oil spill. In response to the problem of low task execution efficiency caused by fixed behavior priority in traditional null‐space‐based (NSB) behavior fusion methods, a fuzzy‐priority NSB (FNSB) behavior fusion formation method is proposed by combining fuzzy control with NSB behavior fusion method. In the FNSB behavior fusion formation control method, a smooth transition rule is introduced to make the behavior priority change, USVs can still maintain good formation performance, ensuring the smooth execution of oil spill recovery tasks. Simulation shows that FNSB behavior fusion formation method based on flexible transition rules can improve the rounding efficiency by 26.6% in the environment without obstacles and 37.2% in the environment with multiple obstacles compared with the NSB method. The effectiveness and practicality of this method have been verified through simulation experiments and field experiments on the “Dolphin” series of small USVs.

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Research on double‐USVs fuzzy‐priority NSB behavior fusion formation control method for oil spill recovery

Chen,

Liao,

Tang

et al. 2024

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

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Path Planning of Oil Spill Recovery System With Double USVs Based on Artificial Potential Field Method

Cited by 1 publication

References 25 publications

Research on double‐USVs fuzzy‐priority NSB behavior fusion formation control method for oil spill recovery

Research on double‐USVs fuzzy‐priority NSB behavior fusion formation control method for oil spill recovery

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