自律型水上ロボットによる浅水域の水深測量
Shallow Water Bathymetry Survey using an Autonomous Surface Vehicle
低コストで堅牢な無人自律型水上ロボットを開発し、サイドスキャンソナーを用いて浅水域の水深データを収集した。インド・ムンバイのポーワイ湖で実証実験を行った。
著者: Bibin Wilson, Anand Singh, Amit Sethi
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Accurate and cost effective mapping of water bodies has an enormous significance for environmental understanding and navigation. However, the quantity and quality of information we acquire from such environmental features is limited by various factors, including cost, time, security, and the capabilities of existing data collection techniques. Measurement of water depth is an important part of such mapping, particularly in shallow locations that could provide navigational risk or have important ecological functions. Erosion and deposition at these locations, for example, due to storms and erosion, can cause rapid changes that require repeated measurements. In this paper, we describe a low-cost, resilient, unmanned autonomous surface vehicle for bathymetry data collection using side-scan sonar. We discuss the adaptation of equipment and sensors for the collection of navigation, control, and bathymetry data and also give an overview of the vehicle setup. This autonomous surface vehicle has been used to collect bathymetry from the Powai Lake in Mumbai, India.
