autonomous surface vehicle for mechanized bathymetric surveys
abstract
this study evaluates the efficacy of an autonomous surface vehicle (asv)
constructed from inexpensive consumer off the shelf components for suitability in
surface-based bathymetry of large-scale tailing impounds found in north western
ontario. the asv model will be compared with the current human operated,
surfaced based model of conducting bathymetric surveys. the craft was field
tested in west oliver lake, a shallow, warm water lake with a soft bottom. depth
data were collected at speeds of 2.5ms−1
, 3.0ms−1
, 4.0ms−1
, and 5.0ms−1 along
the same transects with comparisons made to historical data. tailings impound
surveys when conducted by surface crews pose significant risk to human
operators through exposure to hazardous chemicals with both short and
long-term effects. utilizing an autonomous survey vehicle would allow human
crews to maintain a safe distance from the tailings impound, potentially reducing
interactions with harmful substances present in and around the tailings
environment. a mokai jet kayak was selected as the instrument platform after
consideration of its size, propulsion power, and robustness. [...]