長期運用向け自律型水上艇の設計
An Autonomous Surface Vehicle for Long Term Operations
広大な海洋環境を長期間監視するため、大面積を航行でき十分な電力・センサー・燃料を積める自律型水上艇(ASV)を設計し、実運用での知見を報告した論文。
著者: Jason Moulton, Nare Karapetyan, Sharon Bukhsbaum, Chris McKinney, Sharaf Malebary, George Sophocleous, Alberto Quattrini Li, Ioannis Rekleitis
分類: cs.RO
原文アブストラクト
Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous, and labor intensive. Operations from oceanographic vessels are costly and limited to open seas and generally deeper bodies of water. In addition, with lake, river, and ocean shoreline being a finite resource, waterfront property presents an ever increasing valued commodity, requiring exploration and continued monitoring of remote waterways. In order to efficiently explore and monitor currently known marine environments as well as reach and explore remote areas of interest, we present a design of an autonomous surface vehicle (ASV) with the power to cover large areas, the payload capacity to carry sufficient power and sensor equipment, and enough fuel to remain on task for extended periods. An analysis of the design and a discussion on lessons learned during deployments is presented in this paper.
