Abstract
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.
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Fraga, J., Sousa, J., Cabrita, G., Coimbra, P., Marques, L. (2014). Squirtle: An ASV for Inland Water Environmental Monitoring. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 252. Springer, Cham. https://doi.org/10.1007/978-3-319-03413-3_3
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DOI: https://doi.org/10.1007/978-3-319-03413-3_3
Publisher Name: Springer, Cham
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