Xiroi ASV: a modular Autonomous Surface Vehicle to link communications

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).

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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Contributors

Author: Miquel Massot-Campos

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