Title :
Towing a boom with two USVs for oil spill recovery: Scaled experimental development
Author :
Giron-Sierra, Jose M. ; Gheorghita, Alina T. ; Angulo, Guillermo ; Jimenez, Juan F.
Author_Institution :
Dept. ACYA, Univ. Complutense de Madrid, Madrid, Spain
Abstract :
A system of two unmanned surface vehicles (USV) is proposed for towing a boom, in order to do oil spill confinement and displacement operations. The USVs are automatically kept in parallel formation. The system works autonomously: there is no remote control. Before the operation starts, it is specified to the USVs by means of a ground station. Some peculiar control problems appear when towing the boom, which can be solved considering a lateral error. The paper includes experimental results using scaled USVs.
Keywords :
marine pollution; marine vehicles; remotely operated vehicles; USV; boom towing; ground station; oil spill confinement; oil spill displacement operations; oil spill recovery; parallel formation; unmanned surface vehicles; Engines; Geometry; Global Positioning System; Marine vehicles; Pulse width modulation; Robots; Vehicles; environmental protection; marine vehicles; oil spill recovery; robot teams; unmanned surface vehicles;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
DOI :
10.1109/ICARCV.2014.7064577
