Field Operation of a Robotic SWATH Boat for Shallow-Water Bathymetric Characterization
نویسندگان
چکیده
An innovative robotic boat has been developed for performing bathymetric mapping of very shallow coastal, estuarine and inland waters. The boat uses a Small Waterplane Area Twin Hull (SWATH) design to provide natural platform stability for a multibeam sonar payload, and a navigation system automatically guides the boat in a “lawn-mowing” pattern in order to map a region of interest. Developed in stages over five years as part of a low-cost student design program, the boat is now operational and being used to generate science-quality maps for scientific and civil use; it is also being used as a testbed for evaluating the platform for other types of scientific missions and for demonstrating advanced control techniques. This paper reviews the student-based development process, describes the design of the boat, presents results from field operations, and reviews plans for future extensions to the system.
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