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Xiroi ASV: a modular Autonomous Surface Vehicle to link communications

Xiroi ASV: a modular Autonomous Surface Vehicle to link communications
Xiroi ASV: a modular Autonomous Surface Vehicle to link communications
This paper presents the design of Xiroi: a modular Autonomous Surface Vehicle (ASV) built to guarantee a stable and continuous Acoustic Communication Link (ACL) between an underwater vehicle and a remote computer, either located on the shore or on a support vessel. The ASV is commanded to automatically ensure a close distance for the ACL by following the submarine platform when underwater, and keeping a safety distance when it surfaces. The platform can be operated in the following ways: (i) Autonomous Underwater Vehicle (AUV) tracking, where the vehicle is required to track a moving frame (e.g. the AUV) without the need to know the actual position of the platform, (ii) path following, where the objective of the vehicle is to achieve a number of waypoints in a time window and (iii) station keeping, where the vehicle holds its GPS position regardless of the wind or water currents.
Acoustic Communication, Autonomous Surface Vehicle, Autonomous Underwater Vehicle, Underwater Robotics
2405-8963
147-152
Martorell-Torres, Antoni
063e0f40-785c-490a-82d9-7238a1e7fe34
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Guerrero-Font, Eric
6e4ed4c6-59b8-4d11-9c3b-0acaaa9dd3a5
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d
Martorell-Torres, Antoni
063e0f40-785c-490a-82d9-7238a1e7fe34
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Guerrero-Font, Eric
6e4ed4c6-59b8-4d11-9c3b-0acaaa9dd3a5
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d

Martorell-Torres, Antoni, Massot-Campos, Miquel, Guerrero-Font, Eric and Oliver-Codina, Gabriel (2018) Xiroi ASV: a modular Autonomous Surface Vehicle to link communications. IFAC-PapersOnLine, 51 (29), 147-152. (doi:10.1016/j.ifacol.2018.09.484).

Record type: Article

Abstract

This paper presents the design of Xiroi: a modular Autonomous Surface Vehicle (ASV) built to guarantee a stable and continuous Acoustic Communication Link (ACL) between an underwater vehicle and a remote computer, either located on the shore or on a support vessel. The ASV is commanded to automatically ensure a close distance for the ACL by following the submarine platform when underwater, and keeping a safety distance when it surfaces. The platform can be operated in the following ways: (i) Autonomous Underwater Vehicle (AUV) tracking, where the vehicle is required to track a moving frame (e.g. the AUV) without the need to know the actual position of the platform, (ii) path following, where the objective of the vehicle is to achieve a number of waypoints in a time window and (iii) station keeping, where the vehicle holds its GPS position regardless of the wind or water currents.

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More information

e-pub ahead of print date: 11 October 2018
Published date: 2018
Keywords: Acoustic Communication, Autonomous Surface Vehicle, Autonomous Underwater Vehicle, Underwater Robotics

Identifiers

Local EPrints ID: 428784
URI: http://eprints.soton.ac.uk/id/eprint/428784
ISSN: 2405-8963
PURE UUID: f77b3b73-5454-4227-aa9e-64e296f3294a
ORCID for Miquel Massot-Campos: ORCID iD orcid.org/0000-0002-1202-0362

Catalogue record

Date deposited: 08 Mar 2019 17:30
Last modified: 23 Jul 2020 00:46

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Contributors

Author: Antoni Martorell-Torres
Author: Eric Guerrero-Font
Author: Gabriel Oliver-Codina

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