In this paper, a mobile robotic complex for monitoring the coastal zone and the results of a hydrodynamic measurement system using remote sensing methods using a radar station transported by a ground mobile robot are presented. An overview of existing land-based mobile coastal zone monitoring systems is provided. The results of studies of the intensity of sea waves and, accordingly, the determination of the parameters of wind waves in the coastal zone of the Sea of Okhotsk are presented. The technique of carrying out experimental and theoretical studies of the terrain and the physical and mechanical properties of the track can be reported, the data of which can be used to predict ways to improve the performance of mobile robots monitoring coastal areas.
pic. Autonomous mobile robotic complex for coastal zone monitoring:
1 – Lidars LMS511Pro,
2 – Antennas GNSS,
3 – Weather station Vaysala WХ520,
4 – wi-fi Antenna,
5 – Camcorder AXIS Q6045-E,
6 – Radar of a circular review MRS-1000
Graphical user interface of measuring equipment
The fragment of measurement of force of draft on coupling
Autonomous mobile robotics complex allows to execute the following volume of experimental researches. Measurements of the intensity of reflection of waves by means of a radar, as well as measurement of the state of the atmosphere (atmospheric pressure, temperature, relative humidity, wind direction, wind speed). Perform typical maneuvers in unmanned mode: movement along a given corridor at short distances and long distances, curvilinear movement along a given corridor (turn, “snake”), movement to the control point and back, movement through control points. To make an estimation of weight parameters AMRC, force of resistance to movement, traction force on coupling, force of lateral shift, maximum angle of lifting of the machine, dynamic qualities of the machine, smooth running of the machine, fuel efficiency, angle of transverse static stability.