2014 | OriginalPaper | Buchkapitel
Squirtle: An ASV for Inland Water Environmental Monitoring
verfasst von : Jorge Fraga, João Sousa, Gonçalo Cabrita, Paulo Coimbra, Lino Marques
Erschienen in: ROBOT2013: First Iberian Robotics Conference
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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.