AeroBuoy：ドローンで展開可能な3Dプリント自律型ロボティックブイによる遠隔・危険河川の環境調査
AeroBuoy: A Drone Deployable, 3D Printed, Autonomous Robotic Buoy for Environmental Inspection in Remote and Hazardous River Systems
ドローンで遠隔地の河川に投入・回収できる3Dプリント製の自律型ブイを開発し、GPSと磁気センサーで川の流れに乗って航行しながら水温などを計測するシステムを実証した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Reuben O'Brien, Angus Lynch, Minas Liarokapis
分類: cs.RO, eess.SY
原文アブストラクト
Monitoring of waterways such as remote and hazardous rivers and streams is important so as to assess the impact of external factors including construction runoff or climate change. Versatile, autonomous robotic boats can offer excellent environmental inspection and monitoring solutions for remote, dangerous, or access protected water bodies but they have several shortcomings in terms of maneuverability. This paper proposes an environmental inspection system consisting of an autonomous data collection buoy which is designed to be deployed to inaccessible river systems using a drone. The system can perform a drop off and pickup of the buoy depending on the requirements of a particular location and monitoring task. Utilising the natural flow of the river the buoy autonomously steers down, using GPS and magnetometers so as to maintain the desired trajectory. The buoy is capable of measuring water temperature but it can also be equipped with a range of sensors such as water oxygen meter, sonar for river bed inspection, or turbidity for water clarity. This paper describes the system design, presents an analysis of the self-righting capabilities of the buoy, and shows a full system demonstration at the Ōrewa River in Auckland, New Zealand.