Development and initial testing of a SWATH boat for shallow-water bathymetry

Mahacek, Paul; Berk, Todd; Casanova, A.; Kitts, Christopher; Kirkwood, William; Wheat, G.

doi:10.1109/oceans.2008.5152040

Cited by 14 publications

(4 citation statements)

References 3 publications

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“…There have been several approaches in developing small autonomous surface vehicles. Different combinations of single hull, twin-hull, electric, or gas combustion can be observed in several publications [9,3,2,1]. Rodriquez et al present a comprehensive feasibility review of ASVs as of 2012 [16].…”

Section: Related Workmentioning

confidence: 99%

Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces

Moulton¹,

Karapetyan²,

Kalaitzakis³

et al. 2019

Preprint

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The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and autonomously operated surface vehicles. Human data collection and monitoring is overly taxing and inconsistent when faced with large coverage areas, disturbed environments, and potentially uninhabitable situations. In contrast, the same missions become achievable with Autonomous Surface Vehicles (ASVs) configured and capable of accurately maneuvering in such environments. The two dynamic factors that present formidable challenges to completing precise maneuvers in coastal and moving waters are currents and winds. In this work, we present novel and inexpensive methods for sensing these external forces, together with methods for accurately controlling an ASV in the presence of such external forces. The resulting platform is capable of deploying bathymetric and water quality monitoring sensors. Experimental results in local lakes and rivers demonstrate the feasibility of the proposed approach.

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Section: Related Workmentioning

confidence: 99%

Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces

Moulton¹,

Karapetyan²,

Kalaitzakis³

et al. 2019

Preprint

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“…In 2008, Santa Clara University introduced their small waterplane twin hull (SWATH) [7] ASV. SWATH employed two under the surface catamarans running electric motors mainly for shallow and inland water operation.…”

Section: A Related Work and Current State Of The Artmentioning

confidence: 99%

An Autonomous Surface Vehicle for Long Term Operations

Moulton

Karapetyan

Bukhsbaum

et al. 2018

OCEANS 2018 MTS/IEEE Charleston

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Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous, and labor intensive. Operations from oceanographic vessels are costly and limited to open seas and generally deeper bodies of water. In addition, with lake, river, and ocean shoreline being a finite resource, waterfront property presents an ever increasingvalued commodity, requiring exploration and continued monitoring of remote waterways. In order to efficiently explore and monitor currently known marine environments as well as reach and explore remote areas of interest, we present a design of an autonomous surface vehicle (ASV) with the power to cover large areas, the payload capacity to carry sufficient power and sensor equipment, and enough fuel to remain on task for extended periods. An analysis of the design and a discussion on lessons learned during deployments is presented in this paper.

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“…Centimeter resolution can be achieved with sonar on USV but varies due to factors such as sensor frequency and depth. There are a variety of USV hull shapes [5] to accommodate different sensors and marine environments, such as small-waterplane-area twin hull (SWATH) [33,34], catamaran [35][36][37], and V hull. Commercial and research USV such as the Seafloor Systems Hydrone [38], Jetyak [39], and Searobotics Hycat [40] have successfully conducted bathymetric surveys for navigational purposes and characterization of the bottom environment in coastal and inland bodies of water.…”

Section: Introductionmentioning

confidence: 99%

The Bathy-Drone: An Autonomous Uncrewed Drone-Tethered Sonar System

Diaz

Ortega

Tingle

et al. 2022

Drones

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A unique drone-based system for underwater mapping (bathymetry) was developed at the University of Florida. The system, called the “Bathy-drone”, comprises a drone that drags, via a tether, a small vessel on the water surface in a raster pattern. The vessel is equipped with a recreational commercial off-the-shelf (COTS) sonar unit that has down-scan, side-scan, and chirp capabilities and logs GPS-referenced sonar data onboard or transmitted in real time with a telemetry link. Data can then be retrieved post mission and plotted in various ways. The system provides both isobaths and contours of bottom hardness. Extensive testing of the system was conducted on a 5 acre pond located at the University of Florida Plant Science and Education Unit in Citra, FL. Prior to performing scans of the pond, ground-truth data were acquired with an RTK GNSS unit on a pole to precisely measure the location of the bottom at over 300 locations. An assessment of the accuracy and resolution of the system was performed by comparison to the ground-truth data. The pond ground truth had an average depth of 2.30 m while the Bathy-drone measured an average 21.6 cm deeper than the ground truth, repeatable to within 2.6 cm. The results justify integration of RTK and IMU corrections. During testing, it was found that there are numerous advantages of the Bathy-drone system compared to conventional methods including ease of implementation and the ability to initiate surveys from the land by flying the system to the water or placing the platform in the water. The system is also inexpensive, lightweight, and low-volume, thus making transport convenient. The Bathy-drone can collect data at speeds of 0–24 km/h (0–15 mph) and, thus, can be used in waters with swift currents. Additionally, there are no propellers or control surfaces underwater; hence, the vessel does not tend to snag on floating vegetation and can be dragged over sandbars. An area of more than 10 acres was surveyed using the Bathy-drone in one battery charge and in less than 25 min.

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Development and initial testing of a SWATH boat for shallow-water bathymetry

Cited by 14 publications

References 3 publications

Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces

Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces

An Autonomous Surface Vehicle for Long Term Operations

The Bathy-Drone: An Autonomous Uncrewed Drone-Tethered Sonar System

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