The Robotic Complex for Remote Aqua Monitoring

摘要

The robotic complex for long-term mobile aqua monitoring is presented in this article. The complex consists of the underwater vehicle and the surface repeater. The main feature of the vehicle is a variable buoyancy system. The system allows buoyancy of the vehicle to be controlled in the wide range. We tried to combine mobility of classic AUVs and energy efficiency of static buoys. The technical implementation of the robotic complex and models of its using are presented. The results of the energy efficient hybrid method of depth control with the propulsion system and the VBS (Variable Buoyancy System) and long-term depth scanning by means of the VBS are showed.