A coordinate coverage water area monitoring scheme for multiple unmanned surface vehicles in dynamic environments
Published in IEEE International Conference on Unmanned Systems (ICUS), 2025
面向脆弱城市水体中水污染动态治理这一关键挑战，本文提出一种融合动态地图交互与运动约束的实时多 USV 协同覆盖方案。核心创新包括：多艇之间同步的污染扩散地图构建，以及以最小冗余覆盖为目标的分布式路径优化。仿真结果表明，该方案具有较高效率：随着 USV 数量增加，监测时间最多可降低 41%，同时覆盖率保持在 90% 以上，从而显著提升自主环境监测能力。该框架针对现有静态覆盖方法在动态污染场景下的不足给出直接改进，具备面向快速演化污染事件的工程应用价值。
Addressing the critical challenge of dynamic water pollution control in fragile urban waters, this work proposes a real-time multi-USV coverage scheme integrating dynamic map interactions and motion constraints. Key innovations include synchronized inter-USV pollution dispersion mapping and distributed path optimization that minimizes redundant coverage. Simulation results validate high efficiency: deploying more USVs reduces monitoring time by up to 41% while maintaining coverage rates above 90%, significantly advancing autonomous environmental monitoring capabilities. This framework directly tackles limitations in existing static coverage methods, demonstrating practical value for rapidly evolving pollution scenarios.
Recommended citation: M. Zhang, Z. Ren*, Y. He, D. Li, L. Yang, and Yang An. (2025). "A Coordinate Coverage Water Area Monitoring Scheme for Multiple Unmanned Surface Vehicles in Dynamic Environments." 2025 IEEE International Conference on Unmanned Systems (ICUS).
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