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Optimal Harvesting with Autonomous Tow Vessels for Offshore Macroalgae Farming

The rising popularity of aquaculture has led to increased research in offshore algae farming. Central to the efficient operation of such farms is the need for (i) accurate models of the dynamic ocean environment including macroalgae ecosystem dynamics and (ii) intelligent path planning algorithms for autonomous vessels that optimally manage and harvest the algae fields. In this work, we address both these challenges. We first integrate our modeling system of the ocean environment with a model for forecasting the growth and decay of algae fields. These fields are then input into our exact optimal path planning, augmented with the optimal harvesting goals and solved using level set methods. The resulting path is a provable time-optimal route for the vehicle to follow under the constraint of having to monitor or harvest a specified amount of the field to collect. To demonstrate the theory, we simulate algal growth in both idealized and realistic data-assimilative dynamic ocean environments and compute the optimal paths for an autonomous collection vehicle. We demonstrate that our theory and schemes can be used to compute the optimal path in a variety of scenarios - harvesting in the case of discrete farms, a large kelp farm field, or large scale dynamic algal bloom fields.