Xiroi ASV: a Modular Autonomous Surface Vehicle to Link Communications

Martorell-Torres, Antoni; Massot-Campos, Miquel; Guerrero-Font, Eric; Oliver-Codina, Gabriel

doi:10.1016/j.ifacol.2018.09.484

Cited by 7 publications

(3 citation statements)

References 10 publications

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“…This article focuses on describing new capabilities of an ASV, called Xiroi II, initially introduced in [ 2 ]. The upgrade of the new vehicle has addressed to the following four objectives.…”

Section: Introductionmentioning

confidence: 99%

Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Martorell-Torres

Guerrero-Font

Guerrero

et al. 2022

Sensors

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In this paper, we present the design, development and a practical use of an Autonomous Surface Vehicle (ASV) as a modular and flexible platform for a large variety of marine tasks including the coordination strategies with other marine robots. This work tackles the integration of an open-source Robot-Operating-System (ROS)-based control architecture that provides the ASV with a wide variety of navigation behaviors. These new ASV capabilities can be used to acquire useful data from the environment to survey, map, and characterize marine habitats. In addition, the ASV is used as a radio frequency relay point between an Autonomous Underwater Vehicle (AUV) and the ground station as well as to enhance the Acoustic Communication Link (ACL) with the AUV. In order to improve the quality of the ACL, a new Marine Multirobot System (MMRS) coordination strategy has been developed that aims to keep both vehicles close to each other. The entire system has been successfully designed, implemented, and tested in real marine environment robotic tasks. The experimental tests show satisfactory results both in ROS-based navigation architecture and the MMRS coordination strategy resulting in a significant improvement of the quality of the ACL.

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Section: Introductionmentioning

confidence: 99%

Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Martorell-Torres

Guerrero-Font

Guerrero

et al. 2022

Sensors

Self Cite

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“…(4) However, many of the modeling and control methods being studied are complex and difficult to deal with. (5,6) Therefore, we do not use a rudder for the µ-ASV, but instead use side thrusters for rotation and sideways movement, which results in a thruster arrangement similar to that of a mobile trolley. This thruster arrangement allows the µ-ASV to move back and forth, left and right, and rotate.…”

Section: Introductionmentioning

confidence: 99%

Development of Small Autonomous Surface Vehicle Implementing Position Control System Using Sliding Mode Control

Kawamura¹,

Tahara²,

Kato³

et al. 2021

Sensors and Materials

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Currently, autonomous surface vehicles (ASVs) are being actively studied. In particular, there are high expectations for their use in aquaculture and research in coastal areas and by the fishing industry. However, conventional ship-based ASVs require considerable manpower and time during loading and unloading. In addition, it takes time to set up the base station, which makes the use of ASVs difficult. Therefore, we are developing a small ASV based on a surfboard that can be easily operated. We also utilize a sliding mode control method that ignores the effects of model errors and disturbances. A waypoint navigation test and a dynamic position system test were conducted on the developed ASV using this control method and this paper reports the experimental results, along with the results of an experiment combining waypoint navigation dynamic position system control.

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“…Nevertheless, aspects such as the ROV's autonomy, efficiency in energy consumption, processing and information storage, hydrodynamic structure, position control, and limitations in communication are some of the topics on which current research could contribute [34][35][36][37]. Another factor that can affect the ROV design and implementation is the high cost involved, but it is important to consider an adequate balance between the cost and the functionality of the system in relation to its application [38][39][40][41].…”

Section: Introductionmentioning

confidence: 99%

Design and Construction of an ROV for Underwater Exploration

Aguirre-Castro

Inzunza-González

García-Guerrero

et al. 2019

Sensors

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The design of a remotely operated vehicle (ROV) with a size of 18.41 cm × 29.50 cm × 33.50 cm, and a weight of 15.64 kg, is introduced herein. The main goal is to capture underwater video by remote control communication in real time via Ethernet protocol. The ROV moves under the six brushless motors governed through a smart PID controller (Proportional + Integral + Derivative) and by using pulse-wide modulation with short pulses of 1 μs to improve the stability of the position in relation to the translational, ascent or descent, and rotational movements on three axes to capture images of 800 × 640 pixels on a video graphic array standard. The motion control, 3D position, temperature sensing, and video capture are performed at the same time, exploiting the four cores of the Raspberry Pi 3, using the threading library for parallel computing. In such a way, experimental results show that the video capture stage can process up to 42 frames per second on a Raspberry Pi 3. The remote control of the ROV is executed under a graphical user interface developed in Python, which is suitable for different operating systems, such as GNU/Linux, Windows, Android, and OS X. The proposed ROV can reach up to 100 m underwater, thus solving the issue of divers who can only reach 30 m depth. In addition, the proposed ROV can be useful in underwater applications such as surveillance, operations, maintenance, and measurement.

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Xiroi ASV: a Modular Autonomous Surface Vehicle to Link Communications

Cited by 7 publications

References 10 publications

Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Xiroi II, an Evolved ASV Platform for Marine Multirobot Operations

Development of Small Autonomous Surface Vehicle Implementing Position Control System Using Sliding Mode Control

Design and Construction of an ROV for Underwater Exploration

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