文章基本信息

标题：Xiroi ASV: a Modular Autonomous Surface Vehicle to Link Communications ⁎
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作者：Antoni Martorell-Torres ; Miquel Massot-Campos ; Eric Guerrero-Font 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：29
页码：147-152
DOI：10.1016/j.ifacol.2018.09.484
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents the design of Xiroi: a modular Autonomous Surface Vehicle (ASV) built to guarantee a stable and continuous Acoustic Communication Link (ACL) between an underwater vehicle and a remote computer, either located on the shore or on a support vessel. The ASV is commanded to automatically ensure a close distance for the ACL by following the submarine platform when underwater, and keeping a safety distance when it surfaces. The platform can be operated in the following ways: (i) Autonomous Underwater Vehicle (AUV) tracking, where the vehicle is required to track a moving frame (e.g. the AUV) without the need to know the actual position of the platform, (ii) path following, where the objective of the vehicle is to achieve a number of waypoints in a time window and (iii) station keeping, where the vehicle holds its GPS position regardless of the wind or water currents.
关键词：KeywordsAutonomous Surface VehicleAcoustic CommunicationAutonomous Underwater VehicleUnderwater Robotics