Authors: Antonio GuerreroGonzález Francisco GarcíaCórdova Francisco J Ortiz Diego Alonso Javier Gilabert
Publish Date: 2016/08/01
Volume: 40, Issue: 7, Pages: 1321-1342
Abstract
This paper describes the BUSCAMOSOil monitoring system which is a robotic platform consisting of an autonomous surface vessel combined with an underwater vehicle The system has been designed for the longterm monitoring of oil spills including the search for the spill and transmitting information on its location extent direction and speed Both vehicles are controlled by two different types of bioinspired neural networks a SelfOrganization Direction Mapping Network for trajectory generation and a Neural Network for Avoidance Behaviour for avoiding obstacles The systems’ resilient capabilities are provided by bioinspired algorithms implemented in a modular software architecture and controlled by redundant devices to give the necessary robustness to operate in the difficult conditions typically found in longterm oilspill operations The efficacy of the vehicles’ adaptive navigation system and longterm mission capabilities are shown in the experimental resultsThis work was partially supported by the BUSCAMOS Project ref 1003211003700 under the program DN8644 COINCIDENTE of the Spanish Defense Ministry the “Research Programme for Groups of Scientific Excellence at Region of Murcia” of the Seneca Foundation Agency for Science and Technology of the Region of Murcia19895/GERM/15” and the Spanish Government’s cDrone ref TIN201345920R and ViSelTR ref TIN201239279 projects The authors would like to thank Spanish Navy for the cession of a Pluto Unmanned Underwater vehicle
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