Experimental evaluation of an autonomous surface vehicle for water quality and greenhouse gas emission monitoring

Dunbabin, Matthew and Grinham, Alistair (2010). Experimental evaluation of an autonomous surface vehicle for water quality and greenhouse gas emission monitoring. In: Proceedings. IEEE International Conference on Robotics and Automation. IEEE International Conference on Robots and Automation, ICRA 2010, Alaska, U.S.A., (5268-5274). 3-7 May 2010. doi:10.1109/ROBOT.2010.5509187


Author Dunbabin, Matthew
Grinham, Alistair
Title of paper Experimental evaluation of an autonomous surface vehicle for water quality and greenhouse gas emission monitoring
Conference name IEEE International Conference on Robots and Automation, ICRA 2010
Conference location Alaska, U.S.A.
Conference dates 3-7 May 2010
Proceedings title Proceedings. IEEE International Conference on Robotics and Automation   Check publisher's open access policy
Journal name IEEE International Conference on Robotics and Automation   Check publisher's open access policy
Place of Publication U. S. A.
Publisher IEEE - Computer Society
Publication Year 2010
Sub-type Fully published paper
DOI 10.1109/ROBOT.2010.5509187
ISBN 9781424450381
ISSN 1050-4729
2152-4092
Volume 2010
Start page 5268
End page 5274
Total pages 7
Collection year 2011
Language eng
Formatted Abstract/Summary
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.
Subjects 080101 Adaptive Agents and Intelligent Robotics
Q-Index Code E1
Q-Index Status Confirmed Code
Institutional Status UQ
Additional Notes ThF4 Marine Robotics: Autonomous Underwater and Surface Vehicles

Document type: Conference Paper
Collections: School of Civil Engineering Publications
Official 2011 Collection
 
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Citation counts: TR Web of Science Citation Count  Cited 7 times in Thomson Reuters Web of Science Article | Citations
Scopus Citation Count Cited 10 times in Scopus Article | Citations
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Created: Mon, 25 Oct 2010, 22:30:19 EST by Dr Alistair Grinham on behalf of School of Civil Engineering