The phenomena of the COVID-19 outbreak and the Arctic Iceberg melting over the past two years make us reconsider the impact our way of life has on the environment and the responsibility of business toward minimizing and potentially eliminating emissions. Increasing ship traffic in ports leads to the growing emission of air pollutants, which influences the air quality and public health in the surrounding areas. The International Maritime Organization (IMO) has adopted relevant regulations (e.g., Annex VI of IMO's pollution prevention treaty (MARPOL) and mandatory energy-efficiency measures) to address ship emissions. To ensure the effective implementation of such regulations and measures, air emission detection and monitoring has become crucial. In this paper, a dynamic multitarget path planning model is developed to realize multi-UAVs (Unmanned Aerial Vehicles) performing synergistic detection of ship emissions in ports. A path planning algorithm under a dynamic environment is developed to establish the model. This algorithm incorporates a Tabu table into particle swarm optimization (PSO) to improve its optimization ability, and it obtains the initial detection route of each UAV based on a “minimum ring” method. This paper describes a multi-UAVs synergistic algorithm to formulate the path reprogramming time in a dynamic environment by judging and cutting the “minimum ring”. This finding proves the improved efficiency of air pollution detection by UAVs. It provides useful insights for maritime and port authorities to detect ship emissions in practice and to ensure ship emission reduction for better air quality in the postpandemic era.

在过去的两年中，COVID-19爆发和北极冰山融化的现象使我们重新考虑了生活方式对环境的影响以及企业对减少和潜在消除排放的责任。港口船舶运输的增加导致空气污染物排放量的增加，从而影响周围地区的空气质量和公共卫生。国际海事组织（IMO）通过了有关法规（例如IMO的污染预防条约（MARPOL）附件六和强制性的能效措施）来解决船舶排放问题。为了确保这些法规和措施的有效实施，空气排放检测和监测已变得至关重要。在本文中，建立了动态​​多目标路径规划模型，以实现对港口船舶排放进行协同检测的多UAV（无人飞行器）。开发了动态环境下的路径规划算法以建立模型。该算法将禁忌表结合到粒子群优化算法中以提高其优化能力，并基于“最小环”法获得了每架无人机的初始检测路径。本文描述了一种多UAV协同算法，通过判断和削减“最小环”来制定动态环境中的路径重编程时间。这一发现证明了无人机提高了空气污染检测的效率。