Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces

Jason Moulton, Nare Karapetyan, Michail Kalaitzakis, Alberto {Quattrini Li}, Nikolaos Vitzilaios, Ioannis Rekleitis
In 12th Conference on Field and Service Robotics (FSR) 2019.


Abstract: The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and autonomously operated surface vehicles. Human data collection and monitoring is overly taxing and inconsistent when faced with large coverage areas, disturbed environments, and potentially uninhabitable situations. In contrast, the same missions become achievable with autonomous surface vehicles (ASV) configured and capable of accurately maneuvering in such environments. The two dynamic factors that present formidable challenges to completing precise maneuvers in coastal and moving waters are currents and winds. In this work, we present novel and inexpensive methods for sensing these external forces, together with methods for accurately controlling an ASV in the presence of such external forces. The resulting platform is capable of deploying bathymetric and water quality monitoring sensors. Experimental results in the local lakes and rivers demonstrate the feasibility of the proposed approach..




  author       = {Jason Moulton and Nare Karapetyan and Michail Kalaitzakis
		 and Alberto {Quattrini Li} and Nikolaos Vitzilaios and
		 Ioannis Rekleitis},
  title        = {{Dynamic Autonomous Surface Vehicle Controls Under
		 Changing Environmental Forces}},
  booktitle    = {12th Conference on Field and Service Robotics (FSR)},
  year	       = {2019},
  pages        = {(accepted)},
  month        = {Aug.},
  address      = {Tokyo, Japan}

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Thu Jan 23 06:21:02 EST 2020