Design and Development of an Autonomous Surface Vehicle for Supporting Underwater Navigation
摘要
This work details the conceptualization and development of an Autonomous Surface Vehicle (ASV) designed for supporting underwater navigation. The ASV, which is named MARINA (Marine Autonomous Robot for Intelligent Networking Operations), was developed at the Robotics, Automation and Autonomous Systems Laboratory of the Department of Information Engineering of the University of Pisa. First, the paper outlines the main considerations that led to the conceptualization of the prototype. Then, the main features in terms of hardware and software, which have been adopted for the realization of the desired marine robot, are summarized. Finally, results obtained during a preliminary experimental campaign in a lake environment are presented.