UNMANNED SURFACE VEHICLES
Research on systems related to mobile robotics, such as control, dynamics, navigation, and other areas, is often accompanied by the development of test platforms, which also constitute a class of mobile robots.
With the aim of establishing expertise in the field of unmanned underwater vehicles, LVNT began research on control architectures and navigation systems for this type of mobile robot, using unmanned surface vehicles, known as USVs, as test platforms. This was the case for the “Poli-Maru I” (1998) and “Poli-Maru II” (2002) vehicles. The motivation, considering the long-term development of AUVs, was to reduce costs compared with submersible implementations.
The “Poli-Maru II” USV introduced a more elaborate control architecture than that of “Poli-Maru I”. This architecture sought to incorporate the concept of agents, object-oriented programming, and real-time performance constraints.
After the preparation phase, which involved the investigation of systems similar to those used in AUVs, such as the ones mentioned above, the development of this class of vehicles itself began with the “AUV Pirajuba” project.
More recently, in 2021, another USV, the Poli-Marú III, was implemented, with an academic application related to the investigation of AUV navigation. By adopting a USV carrying the same navigation system as the AUV, it is possible to test the entire kinematics in the horizontal plane, estimate the vehicle trajectory, and compare it with the trajectory obtained from continuous GPS measurements. This significantly reduces testing costs compared with sea trials using the AUV, which require more substantial logistics services, such as mobilization and transportation to the coast, as well as hiring vessel support services. Compared with similar tests using the AUV navigating on the surface of the USP Olympic Rowing Course, three attractive factors can be mentioned for the USV alternative: a) the significant relative ease of conducting tests with the surface vehicle, since, unlike the AUV, its systems can be easily accessed by operators, without the sealing procedures required for the AUV electronics each time one of its pressure vessels is opened; b) the easier maneuverability of the USV on the surface, since the AUV operates with greater difficulty in heading control.
It should be emphasized, however, that unlike previous USVs, the Poli-Marú III trimaran is also intended for aquatic monitoring services, submerged soils, and port areas.
Poli-Marú III