Naslov
Landing Platform for Autonomous Inspection Missions in Mariculture Using an ASV and a UAV

Autori
Kapetanović, Nadir ; Oreč, Martin ; Mišković, Nikola ; Fausto Ferreira

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles / - , 2022, 1-6

Skup
14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS 2022)

Mjesto i datum
Kongens Lyngby, Danska, 14.09.2022. - 16.09.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
marine robotics ; autonomous surface vehicle (ASV) ; Light Autonomous Aerial Robot (LAAR) ; landing platform (LP) ; mariculture ; autonomous inspection

Sažetak
Cooperation of a lightweight autonomous aerial vehicle (LAAR) and an autonomous surface vehicle (ASV) in prolonged robotic inspections missions in mariculture requires a landing platform (LP) with a docking system mounted onto the ASV. The autonomous surface and aerial vehicles developed in the scope of HEKTOR (Heterogeneous Autonomous Robotic System in Viticulture and Mariculture) project are presented herein. Furthermore, mechanical and electrical design of the LP, the control scheme and communication protocol of the LP with the ASV, and LP-ROS interface for future high-level mission control are described. The ASV autonomy test results show that it can work for 10-11h. Laboratory and field trials of the LP show that the chosen concept works in various settings.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA