29 March 2021
ASVs modeled wind & currents with Gaussian processes to predict environmental forces
Onboard sensors measured forces; linear model predicted trajectory error
Waypoint navigation augmented to compensate using intermediate waypoints
Enabled smooth coverage patterns for lake & river monitoring
Reduced path following error by up to 48% in experiments
Autonomous Robots for Environmental Monitoring and Exploration
This paper presents a framework for robotic operations in aquatic environments using autonomous surface vehicles (ASVs). It focuses on modeling environmental forces like wind and water currents to improve navigation accuracy. The ASVs collect sensor data to build maps predicting the effect of forces on the vehicle's trajectory. Waypoint navigation is then augmented to compensate, ensuring smooth coverage for monitoring or exploration. Experiments demonstrate reduced error in path following, enabling more precise surveying.
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