TY - GEN
T1 - Development of an ASV for Oceanographic Monitoring on the Huarmey Coast
AU - Velasco, Luis
AU - Balbuena, Jose
AU - Gonzales, Julio
AU - Cuellar, Francisco
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/20
Y1 - 2021/6/20
N2 - This paper presents the desing and preliminar simulations of an Autonomous Surface Vehicle (ASV) for monitoring oceanographic and meteorological parameters in the coastal areas of Huarmey-Peru, as well as the development of a control algorithm for its autonomous navigation. The development of the ASV aims to allow the monitoring and collection of sea water quality parameters (pH, turbity, salinty, conductivity, temperature, nitrate, chlorophyll and pythoplankton), current velocity and bathymetric measurement, which is relevant for environmental monitoring and provide information for sustainable fishering and aquiculture activities. A non-linear controller is implemented based on Differential Flatness method in order to track the desired path generated by the ASV.Simulations are presented to validate the control strategy with different desired path and generating disturbances, showing the response of the state and control variables of the system.
AB - This paper presents the desing and preliminar simulations of an Autonomous Surface Vehicle (ASV) for monitoring oceanographic and meteorological parameters in the coastal areas of Huarmey-Peru, as well as the development of a control algorithm for its autonomous navigation. The development of the ASV aims to allow the monitoring and collection of sea water quality parameters (pH, turbity, salinty, conductivity, temperature, nitrate, chlorophyll and pythoplankton), current velocity and bathymetric measurement, which is relevant for environmental monitoring and provide information for sustainable fishering and aquiculture activities. A non-linear controller is implemented based on Differential Flatness method in order to track the desired path generated by the ASV.Simulations are presented to validate the control strategy with different desired path and generating disturbances, showing the response of the state and control variables of the system.
KW - ASV
KW - differential flatness
KW - marine robotics
KW - nonlinear control
KW - ocean monitoring
KW - oceanography
UR - http://www.scopus.com/inward/record.url?scp=85118803748&partnerID=8YFLogxK
U2 - 10.1109/ISIE45552.2021.9576371
DO - 10.1109/ISIE45552.2021.9576371
M3 - Conference contribution
AN - SCOPUS:85118803748
T3 - IEEE International Symposium on Industrial Electronics
BT - Proceedings of 2021 IEEE 30th International Symposium on Industrial Electronics, ISIE 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th IEEE International Symposium on Industrial Electronics, ISIE 2021
Y2 - 20 June 2021 through 23 June 2021
ER -