Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces. Moulton, J., Karapetyan, N., Kalaitzakis, M., Quattrini Li, A., Vitzilaios, N., & Rekleitis, I. 2021. doi abstract bibtex 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 are 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 (ASVs) 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 local lakes and rivers demonstrate the feasibility of the proposed approach.
@CONFERENCE{Moulton2021381,
author = {Moulton, Jason and Karapetyan, Nare and Kalaitzakis, Michail and Quattrini Li, Alberto and Vitzilaios, Nikolaos and Rekleitis, Ioannis},
title = {Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces},
year = {2021},
journal = {Springer Proceedings in Advanced Robotics},
volume = {16},
pages = {381 – 394},
doi = {10.1007/978-981-15-9460-1_27},
affiliations = {Computer Science and Engineering Department, University of South Carolina, Columbia, United States; Department of Mechanical Engineering, University of South Carolina, Columbia, United States; Computer Science Department, Dartmouth College, Hanover, Germany},
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 are 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 (ASVs) 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 local lakes and rivers demonstrate the feasibility of the proposed approach.},
keywords = {Autonomous vehicles; Control system synthesis; Maneuverability; Water quality; Autonomous surface vehicles; Coverage area; Data collection; Data monitoring; Environmental forces; External force; Human data; Marine environment; Surface vehicles; Vehicle Control; Unmanned surface vehicles},
correspondence_address = {J. Moulton; Computer Science and Engineering Department, University of South Carolina, Columbia, United States; email: moulton<at>email.sc.edu},
publisher = {Springer Science and Business Media B.V.},
issn = {25111256},
language = {English},
abbrev_source_title = {Springer. Proc. Adv. Robot.},
type = {Book chapter},
publication_stage = {Final},
source = {Scopus}
}
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