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An Unmanned Surface Vehicle: Autonomous Sensor Integration System For Bathymetric Surveys, Fernando Sotelo Torres

Open Access Theses & Dissertations

Unmanned Surface Vehicles (USVs) have been applied to earth sciences, with only a few studies conducted in water environments, as these systems provide autonomous measurement capabilities and transferability to other environmental settings. In this thesis, a reliable, yet economical, USV has been developed for bathymetric surveying of lakes. The system combines an autonomous navigation framework, environmental sensors and a multibeam echosounder to collect submerged topography, temperature, windspeed and monitor the vehicle status during prescribed path planning missions.

The main objective of this study is to provide a methodological framework to build a USV, with independent decision-making, efficient control, and long-range …