An Autonomous Surface Vehicle for Water （一个自治表面水的工具）.pdf

Australasian Conference on Robotics and Automation (ACRA), December 2-4, 2009, Sydney, Australia An Autonomous Surface Vehicle for Water Quality Monitoring † ‡ ♯ Matthew Dunbabin , Alistair Grinham and James Udy †Autonomous Systems Laboratory, CSIRO ICT Centre, P.O. Box 883, Kenmore, QLD 4069, Australia. ‡Centre for Water Studies, School of Engineering, The University of Queensland, St Lucia, Australia. ♯Seqwater, 240 Margaret Street, Brisbane, QLD 4000, Australia. matthew.dunbabin@csiro.au, a.grinham@.au, judy@.au Abstract ] Leonessa et al., 2003; Reed et al., 2006 , navigation and con- trol [Vaneck, 1997; Alves et al., 2006; Reyhanoglu and Bom- This paper describes a novel Autonomous Surface mer, 2006] and path-planning and obstacle avoidance [Lar- Vehicle capable of navigating throughout complex ] son et al., 2006 . The use of multiple ASVs have been pro- inland water storages and measuring a range of posed to provide communication support for Autonomous water quality properties and greenhouse gas emis- Underwater Vehicles [Curcio et al., 2005a; 2005b; Pascoal sions. The 1