Research into systems related to mobile robotics (e.g., control, dynamics, navigation, etc.) is often accompanied by the development of test platforms, which also constitute a class of mobile robots.
LVNT, aiming to establish expertise in the field of unmanned underwater vehicles, began research into control architectures and navigation systems for this type of mobile robot, using unmanned surface vehicles (USVs) as test platforms. This was the case with the “Poli-Maru I” (1998) and “Poli-Maru II” (2002) vehicles. The motivation, aiming at long-term AUV development, was cost reduction compared to submersible implementations.
The USV “Poli-Maru II” introduced a more elaborate control architecture than “Poli-Maru I”. It sought to incorporate the concept of agents, object-oriented programming, and real-time performance constraints.
After the preparation phase, investigating systems similar to those used in AUVs, as mentioned above, the actual development of this class of vehicles began with the “AUV Pirajuba” project.
Recently (2021), another USV, Poli-Marú III, was implemented, with the academic application related to the investigation of AUV navigation.
By adopting a USV carrying the same navigation system as the AUV, one can test the entire horizontal plane kinematics, estimating the vehicle’s trajectory and comparing it to that obtained by continuous GPS measurements. This results in significant cost reduction for trials compared to sea tests with the AUV, which require more substantial logistics services (mobilization and transport to the coast and hiring a vessel). Compared to the same tests with the AUV navigating on the surface of the USP Olympic Rowing Course, three attractive factors for the USV alternative can be mentioned: a) the significantly greater relative ease of conducting trials with the surface vehicle, which, unlike the AUV, allows operators easy access to its systems, without the necessary sealing measures for the AUV’s electronics every time one of its pressure vessels is opened; b) the ease of maneuvering the USV on the surface, since the AUV operates with greater difficulty in heading control.
It should be noted, however, that unlike previous USVs, the Poli-Marú III trimaran is also aimed at monitoring services for water, submerged soils, and port areas.
Poli-Marú III