A Low-Cost Autonomous Surface Vehicle for Multi-Vehicle Operations
Global Oceans 2020: Singapore – U.S. Gulf Coast(2020)
摘要
To provide a low-cost modular easily deployable platform for advancing marine autonomy and supporting multi-vehicle missions, an Autonomous Surface Vehicles (ASV) called BREAM (Boat for Robotic Engineering and Applied Machine-Learning) is de veloped by Purdue University. BREAM is equipped with a Ultra Short Baseline (USBL) system for underwater localization, an acoustic modem for underwater communication, and a portable and adaptable docking station for underwater power/data transfer. This paper discusses the design, construction, control and experimental validation of the vehicle's autonomous capabilities.
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关键词
Marine Robotics,System Design,Robotic Controls,Autonomous Surface Vehicle,Localization
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