Simulation, Optimization and Control of Trajectories of ASVs Performing Hacbs Monitoring Missions in Lentic Waters

Harmful Algaeand Cyanobacteria Blooms (HACBs) are dangerous dynamic processes for the users/inhabitants of the hydric resources. Their development and contingency plans can be anticipated by using Autonomous Surface Vehicles (ASVs) equipped with a self-driven system capable of deciding how to displace the ASV and its multi-parametric probe to take measurements in the 3D locations of the water body where the HACB is likely to occur. This paper presents a new self-driven system for that purpose, consistent on 1) an offline trajectory planner for the ASV that exploits the information provided by a commercial HACBs simulator to optimize, in turn, the ASV horizontal and probe vertical displacements; and 2) a guidance and control system specially designed for making the ASV follow the planned trajectories. The paper also presents a comprehensive set of simulations to evaluate our proposal’s performance and adjust its parameters.