Development of an ASV Trimaran for Testing and Implementation of AUV Navigation Algorithms

Autonomous Surface Vehicles (ASVs) can be employed as platforms to study Autonomous Underwater Vehicles (AUVs) navigation. Navigation systems are commonly constituted by combining data from multiple on-board sensors in order to optimize position and orientation estimates, improving its accuracy, per...

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Bibliographic Details
Published in:IFAC-PapersOnLine 2022-01, Vol.55 (31), p.184-189
Main Authors: Souza, Luiz F.M., Lopes, Gabriel S.V., Uenojo, Aléxis K., Silva, Humberto T., Campopiano, Fábio, de Melo, Márcio R., Frutuoso, Adriano B.S., Silva, Daniele C.L., Pellini, Eduardo L., Barros, Ettore A.
Format: Article
Language:English
Subjects:
Algorithms
ASV
AUV
Navigation
Vehicle
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Summary:Autonomous Surface Vehicles (ASVs) can be employed as platforms to study Autonomous Underwater Vehicles (AUVs) navigation. Navigation systems are commonly constituted by combining data from multiple on-board sensors in order to optimize position and orientation estimates, improving its accuracy, performance, and stability. Sensory fusion techniques are responsible for performing the combination of data from on-board sensors in the vehicle. Among the available techniques, the Kalman filter is the most used. In this work, a trimaran type ASV is presented, and its application in the field of AUV navigation is discussed.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2022.10.429