Autonomous Mobile Robotic System for Coastal Monitoring and Forecasting Marine Natural Disasters

摘要

The paper presents the steps of creating an experimental prototype of an autonomous mobile robot for coastal monitoring and forecasting marine natural disasters. These systems of continuous coastal monitoring are the necessary link in predicting possibilities of developing the resources of the Russian shelf (areas of the Arctic and the Far East). One of the most difficult issues, associated with the creation of the described product, is to ensure the necessary level of mobility in inaccessible areas of coastal zones. This problem is solved by development of the chassis of modular design with the possibility to be reequipped with different types of movers (wheeled, tracked, rotary-screw), depending on operating conditions and the physical and mechanical characteristics of the ground surfaces. The presented robotic complex is also equipped with a set of measuring instruments (circular scanning radar, weather station, navigation system, lidars, video cameras), which allows to carry out comprehensive studies of any coastal zone and evaluate the risks and hazards for providing data for engineering simulation of hydraulic systems and structures. The results of experimental investigations of the coastal zone in the south-east of Sakhalin Island, using the developed experimental prototype of the autonomous mobile robot, are given.