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- Title
Field operation of a robotic small waterplane area twin hull boat for shallow-water bathymetric characterization.
- Authors
Kitts, Christopher; Mahacek, Paul; Adamek, Thomas; Rasal, Ketan; Howard, Vincent; Li, Steve; Badaoui, Alexi; Kirkwood, William; Wheat, Geoffrey; Hulme, Sam
- Abstract
An innovative robotic boat has been developed for performing bathymetric mapping of very shallow coastal, estuarine, and inland waters. The boat uses a small waterplane area twin hull design to provide natural platform stability for a multibeam sonar payload, and a navigation system automatically guides the boat in a 'lawn-mowing' pattern to map a region of interest. Developed in stages over five years as part of a low-cost student design program, the boat is now operational and is being used to generate science-quality maps for scientific and civil use; it is also being used as a testbed for evaluating the platform for other types of scientific missions and for demonstrating advanced control techniques. This paper reviews the student-based development process, describes the design of the boat, presents results from field operations, and reviews plans for future extensions to the system. © 2012 Wiley Periodicals, Inc.
- Subjects
SWATH ships; BATHYMETRIC maps; MULTIBEAM mapping; BOAT design &; construction; ROBOTICS; ROCKET payloads
- Publication
Journal of Field Robotics, 2012, Vol 29, Issue 6, p924
- ISSN
1556-4959
- Publication type
Article
- DOI
10.1002/rob.21427