Naslov
Coordinated Navigation of Surface and Underwater Marine Robotic Vehicles for Ocean Sampling and Environmental Monitoring

Autori
Vasilijević, Antonio ; Nađ, Đula ; Mandić, Filip ; Mišković, Nikola ; Vukić, Zoran

Izvornik
IEEE/ASME transactions on mechatronics (1083-4435) 22 (2017), 3; 1174-1184

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Autonomous Underwater Vehicle ; Unmanned Surface Vehicle ; Environmental monitoring ; Human-on-the-loop

Sažetak
Water pollution generated by accidental spill of hazardous materials is a growing problem worldwide.There is an urging need for a tool which would help environmental response teams to perform rapid understanding of the location and the extent of the spill, to effectively establish an appropriate response. This paper presents a cooperative robotic system for environmental monitoring consisting of an Autonomous Underwater Vehicle (AUV) and an Autonomous Unmanned Surface Vehicle (USV). The main contributions of the paper are: systematic description of the design and implementation of the proposed cooperative robotic system, novel human-on-the-loop (HOTL) approach applied on the system for environmental monitoring and demonstration of the results of the open-sea experiments on pollution deliberately caused by harmless Rhodamine WT, carried out in Cartagena, Spain in June 2015. The proposed HOTL system provides near real-time pollution measurement data, while not consuming a significant amount of human time and effort. It supports decision-making and allows the operator to initiate the most adequate mission in a current situation, i.e., ensures mission change on-the-fly. While the AUV samples the ocean, the USV maintains the localization and communication data transfer to the control centre and corrects the AUV’s dead reckoning error.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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