Coverage Control of Autonomous Vehicles for Oil Spill Cleaning in Dynamic and Uncertain Environments

In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information; the objective here is to enable adaptive decision-making and online replanning of paths. The proposed algorithm provides a complete coverage of the search area for cleanup of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity Player/Stage simulator for oil spill cleaning in a harbor, where the underlying oil weathering process is modeled as 2D random-walk particle tracking.