An autonomous surface vehicle for water quality monitoring
Dunbabin, Matthew, Grinham, Alistair, & Udy, James (2009) An autonomous surface vehicle for water quality monitoring. In Scheding, Steve (Ed.) Proceedings of the 2009 Australasian Conference on Robotics and Automation, ACRA 2009, Australian Robotics and Automation Association, Sydney, Australia, pp. 1-6.
This paper describes a novel Autonomous Surface Vehicle capable of navigating throughout complex inland water storages and measuring a range of water quality properties and greenhouse gas emissions. The 16 ft long solar powered catamaran can collect this information throughout the water column whilst the vehicle is moving. A unique feature of this ASV is its integration into a storage scale floating sensor network to allow remote mission uploads, data download and adaptive sampling strategies. This paper provides an overview of the vehicle design and operation including control, laser-based obstacle avoidance, and vision-based inspection capabilities. Experimental results are shown illustrating its ability to continuously collect key water quality parameters and compliment intensive manual monitoring campaigns.
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|Item Type:||Conference Paper|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Deposited On:||19 Mar 2014 22:55|
|Last Modified:||19 Mar 2014 22:55|
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