IEEE Robotics & Automation Magazine - March 2012 - 62

© LUSHPIX

Design and Application of a Surface Vessel

By Gregory Hitz, Franc¸ois Pomerleau,
 Garneau, Ce
dric Pradalier,
Marie-Eve
Thomas Posch, Jakob Pernthaler,
and Roland Y. Siegwart

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Digital Object Identifier 10.1109/MRA.2011.2181771
Date of publication: 17 February 2012

62

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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MARCH 2012

T

his article presents a novel autonomous surface vessel (ASV) that
was designed and manufactured specifically for the monitoring
of water resources, resources that are not only constantly drained
but also face the growing threat of mass proliferation (bloom) of
noxious cyanobacteria. On one hand, the distribution of these
blooms in a given water body requires a surveillance of biological data at
high spatial resolution on both vertical and horizontal axes, whereas on the
other hand, the understanding of the temporal evolution of the cyanobacteria necessitates repeated sampling at the same location. Therefore, our ASV
was designed to combine the ability to take measurements within a range of
depths, with its custom-made winch, and accurate localization provided by
the global positioning system (GPS), without the need for static installations. This article first describes the ASV conception, and then the results of
extended field tests on the waypoint navigation mode are discussed. Finally,
1070-9932/12/$31.00ª2012 IEEE



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2012

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IEEE Robotics & Automation Magazine - March 2012 - Cover3
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