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Squirtle: An ASV for Inland Water Environmental Monitoring

  • Jorge Fraga
  • João Sousa
  • Gonçalo Cabrita
  • Paulo Coimbra
  • Lino Marques
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 252)

Abstract

This paper presents the Squirtle, an Autonomous Surface Vehicle (ASV) for autonomous navigation and capable of manoeuvring in tight river environments. Its main features include precise localization with RTK GPS and inertial sensors, high manoeuvrability and autonomy, depth sensing and obstacle detection. Its purpose is the exploration and mapping of the bottom of rivers and of their shores. The article includes a brief description of the systems developed to fulfil this task. Software is based on the Robot Operating System (ROS). Results from preliminary field trials are presented and discussed.

Keywords

Inertial Measurement Unit Autonomous Underwater Vehicle Autonomous Navigation Obstacle Detection Real Time Kinematic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Jorge Fraga
    • 1
  • João Sousa
    • 1
  • Gonçalo Cabrita
    • 1
  • Paulo Coimbra
    • 1
  • Lino Marques
    • 1
  1. 1.Institute of Systems and RoboticsUniversity of CoimbraCoimbraPortugal

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