Unmanned Boat Pollution Cleanup Based on Outpoint Penalty Functions

This paper proposes an algorithm that combines an improved penalty function with a Hamiltonian optimization function to solve the trajectory planning problem of unmanned boat pollution cleaning in an ecological lake. In order to shorten the unmanned boat movement time and trajectory distance, this paper parameterizes and discretizes the time and constructs it as a nonlinear optimization problem over different time parameter segments. In addition, a simple and effective envelope modeling is used to transform the obstacles formed by artificial islands in the ecological lake into inequality constraints. The effectiveness of the method proposed in this paper is verified by experimental simulation. The results show that the algorithm in this paper can complete the contamination cleaning in a shorter movement time with a shorter movement distance and maintain a more stable speed.