Abstract
The authors developed the ASV/ROV cooperative system. The ASV has four thrusters located in a rhombus arrangement which enables omnidirectional movement. The developed ASV is equipped with GNSS, with such functions as dynamic positioning and automatic navigation by setting up route coordinate in advance. Moreover, it has a cable control device for linkage with ROV. A cable wound by drum is connected with a PC on the ASV through a slipring. In addition, a cage for ROV storage is set up between floating units of the ASV. The cage height is adjustable for the ROV to limit the hydrodynamic resistance during ASV cruising. It can take 3D underwater pictures and transmit images to land in real time. The ASV determines its movement from the relative position and azimuth of the ROV, as well as the cable length. The relative position of the ROV to the ASV is determined by an acoustic positioning system. Also, the ROV has AI system to catch images and grasp an image by DPS against current disturbance. The developed ASV/ROV cooperative mobility vehicle was successfully tested in the ocean for monitoring seaweeds and useful for CO2 measurement in the sea.
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