Design and development of mini autonomous surface vessel for bathymetric survey

Mohd Adam, Muhammad Ammar and Zainal Abidin, Zulkifli and Ibrahim, Ahmad Imran and Mohd Ghani, Ahmad Shahril and Anchumukkil, Al Jawharah Anchumukkil (2020) Design and development of mini autonomous surface vessel for bathymetric survey. In: Proceedings of the 11th National Technical Seminar on Unmanned System Technology 2019, 02 - 03 Dec 2019, UMP Gambang, Pahang.

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Abstract

Bathymetric survey is necessary in monitoring hydrographic environment. The conventional approach involves operators including engineer, surveyor and boat captain being onboard the vessel during survey works. Application of Autonomous Surface Vessel (ASV) is becoming popular for bathymetric mapping as it reduces operation cost and replaces human operation in high risk areas. Available commercial ASVs are typically designed for a particular task with limited expandability for other similar applications. Also, with current miniaturization of industrial sensors, a small-sized ASV is sufficient for most inland water survey operation. In this paper, the design and development components for a modular and mini ASV, named Suraya-1 is detailed. This vessel is developed for hydrographic survey using singlebeam depth sonar, measuring depth and temperature of a water body. The specifications and performance of developed ASV is compared to existing commercial unmanned vessels of same class and application. The dimension of the vehicle is the smallest compared to counterparts which is 1.04 m × 0.35 m × 0.32 m, weighing only 6.8 kg without payload. Our ASV is powered by two paralleled 18.5 V LiPo battery, which is in the mid-range, yet able to reach navigation speed of 4 knots as required for survey work. The real-time vessel poses and collected data are transmitted to the ground station within range of 2 km. For performance evaluation, the developed ASV is tested in pool environment. Qualitative outcome shows minimal error in navigation control. Also, output data obtained is shown consistent and reliable for a calm water environment.

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	4516/89914
Uncontrolled Keywords:	Autonomous Surface Vessel Bathymetry mapping Hydrographic survey
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA1001 Transportation engineering (General) T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Electrical and Computer Engineering
Depositing User:	ZULKIFLI ZAINAL ABIDIN
Date Deposited:	24 May 2021 11:26
Last Modified:	24 May 2021 11:26
URI:	http://irep.iium.edu.my/id/eprint/89914

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