Field Test of an Integrated ASV/ROV Platform

摘要

The issue of making available efficient, versatile and cost effective solutions for exploring, monitoring and exploiting the marine environment is a challenge that can be tackled by developing integrated robotic platforms, where autonomous surface vehicles (ASV) cooperates with unmanned underwater vehicles (UUV). A robotic structure of that kind is considered in this work, which continues the activity of the authors and co-workers. The robotic platform consists of a small ASV that can serve as supply vessel for a micro-UUV, which is remotely guided by a pilot from a shore-ground station. The present work focuses on the integration of the UUV component in the overall structure and in the development of the its remote guidance system. Mechatronic, control and communication problems encountered in implementing this solution are described and the results of functional tests are illustrated. A simple and efficient robotic structure that can be managed by a single operator for exploration and light intervention in relatively shallow water (up to a depth of about 50m) is finally assembled and made ready for field test in an harbor basin in the next months. Copyright © 2017 by the International Society of Offshore and Polar Engineers (ISOPE).