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Multi-dimensional water sampling unmanned surface vehicle development and application

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Abstract

Although unmanned surface vehicles (USVs) have been repeatedly used in water environment monitoring, for the conventional water sampling missions of freshwater resources, which need to collect water samples from multi-depths and multi-fixed points in high frequency, there is still a big gap between the demands and status. In this paper, a multi-dimensional water sampling unmanned surface vehicle (WS-USV) is addressed, which is used to water sampling missions in the environment protection service. This WS-USV is mainly equipped with a navigation control system and a water sampling system, which is designed to execute the water sampling missions automatically in multiple positions and multiple depths. For reducing tracking error under the complex water environment disturbance, a kind of multi-waypoints guidance and tracking control strategy based on the line-of-sight method and Proportion Integration Differentiation control is used in the navigation system. In addition, two strategies to refine the water sampling missions, mainly including water sampling and recycling strategies are designed, which are all run by programmable software modules in the onboard computer system. In the real field experimental application, this WS-USV could traverse multiple sampling positions in order and accomplish the fully automatic water sampling process.

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Data availability

The data and materials used during this research are available and can be duly requested from the corresponding author by e-mail.

Code Availability

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Acknowledgements

Acknowledgements for the participants from Lihe Technology (Hunan) Co., Ltd in the experiments.

Funding

The work is partially supported by the Key-Area Research and Development Program of Guangdong Province (Grant No. 2020B1111010002), the National Natural Science Foundation of China (Grant NO. 61991413), the Innovative Research Group Project of the National Natural Science Foundation of China (Grant NO. 61821005), the Fund integration project of the National Natural Science Foundation of China (Grant NO. 91948303) and Liaoning Provincial Science and Technology Research Project (Grant NO. 2022JH6/100100009).

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Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Mengwei Zhang, Decai Li & Yuqing He

  2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China

    Mengwei Zhang, Decai Li & Yuqing He

  3. University of Chinese Academy of Sciences, Beijing, 100049, China

    Mengwei Zhang

  4. Guangzhou Institute of Industrial Intelligence, Guangzhou, 511458, China

    Junfeng Xiong

Authors
  1. Mengwei Zhang
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  2. Decai Li
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  3. Junfeng Xiong
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  4. Yuqing He
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Contributions

All authors contributed to the study conception and design. The Material preparation was performed by MZ, the data collection and analysis were performed by MZ, DL, JX and YH. The first draft of the manuscript was written by MZ and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Mengwei Zhang.

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Zhang, M., Li, D., Xiong, J. et al. Multi-dimensional water sampling unmanned surface vehicle development and application. Int. J. Dynam. Control 11, 3188–3208 (2023). https://doi.org/10.1007/s40435-023-01163-z

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  • DOI: https://doi.org/10.1007/s40435-023-01163-z

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