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Implementation of an Unmanned Surface Vehicle for Environmental Monitoring Applications

dc.contributor.editorGarcia L.
dc.contributor.editorWightman P.
dc.contributor.editorPercybrooks W.
dc.contributor.editorCarrillo H.
dc.contributor.editorQuintero C.
dc.creatorPaez J.
dc.creatorVilla J.L.
dc.creatorCabrera J.
dc.creatorYime E.
dc.identifier.citation2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
dc.description.abstractEnvironmental monitoring in inland waters is an important issue for adequate planning and management of this kind of territories. This paper shows the implementation of the concepts and strategies for a boat to follow a pre-established route through waypoints oriented to these water bodies. An extended Kalman filter is used to estimate orientation and position using the readings of an inertial unit fused with a magnetometer and GPS. The strategy shows to be valid in calm conditions, which is sufficient for the mission. © 2018 IEEE.eng
dc.format.mediumRecurso electrónico
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.titleImplementation of an Unmanned Surface Vehicle for Environmental Monitoring Applications
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dc.source.event2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
dc.subject.keywordsAutonomous Vehicles
dc.subject.keywordsEnvironmental monitoring
dc.subject.keywordsMarine robotics
dc.subject.keywordsSensor fusion
dc.subject.keywordsAutonomous vehicles
dc.subject.keywordsEnvironmental engineering
dc.subject.keywordsKalman filters
dc.subject.keywordsMarine navigation
dc.subject.keywordsUnmanned surface vehicles
dc.subject.keywordsCalm conditions
dc.subject.keywordsEnvironmental monitoring
dc.subject.keywordsInertial units
dc.subject.keywordsInland waters
dc.subject.keywordsMarine robotics
dc.subject.keywordsSensor fusion
dc.subject.keywordsEnvironmental management
dc.rights.ccAtribución-NoComercial 4.0 Internacional
dc.identifier.instnameUniversidad Tecnológica de Bolívar
dc.identifier.reponameRepositorio UTB
dc.description.notesACKNOWLEDGMENT This work is supported by Universidad Tecnologica de Bolivar under contract FI1506T2001 ”Design and Implementation of an Autonomous Operation System for a boat”.
dc.relation.conferencedate1 November 2018 through 3 November 2018

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