Experimental evaluation of an autonomous surface vehicle for water quality and greenhouse gas emission monitoring
Dunbabin, Matthew & Grinham, Alistair (2010) Experimental evaluation of an autonomous surface vehicle for water quality and greenhouse gas emission monitoring. In Proceedings of the 2010 IEEE International Conference on Robotics and Automation, IEEE, Anchorage, Alaska, The United States of America, pp. 5268-5274.
This paper describes the experimental evaluation of a novel Autonomous Surface Vehicle capable of navigating complex inland water reservoirs and measuring a range of water quality properties and greenhouse gas emissions. The 16 ft long solar powered catamaran is capable of collecting water column profiles whilst in motion. It is also directly integrated with a reservoir scale floating sensor network to allow remote mission uploads, data download and adaptive sampling strategies. This paper describes the onboard vehicle navigation and control algorithms as well as obstacle avoidance strategies. Experimental results are shown demonstrating its ability to maintain track and avoid obstacles on a variety of large-scale missions and under differing weather conditions, as well as its ability to continuously collect various water quality parameters complimenting traditional manual monitoring campaigns.
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|Item Type:||Conference Paper|
|Keywords:||Air pollution control, Collision avoidance, Mobile robots, Position control, Reservoirs, Water quality|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2010 IEEE|
|Deposited On:||19 Mar 2014 23:06|
|Last Modified:||02 Apr 2014 23:22|
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