ROAZ Autonomous Surface Vehicle Design and Implementation

TLDR

The paper presents the design of an Autonomous Surface Vehicle (ROAZ) intended for river and estuarine operations, including support for multiple autonomous underwater vehicle missions. The authors describe the mechanical design challenges, hardware and software components, and the control and navigation system architecture of the ROAZ platform. Preliminary tests of a custom thruster and CFD‑based hydrodynamic drag calculations demonstrate the vehicle’s performance characteristics.

Abstract

The design of an Autonomous Surface Vehicle for operation in river and estuarine scenarios is presented. Multiple operations with autonomous underwater vehicles and support to AUV missions are one of the main design goals in the ROAZ system. The mechanical design issues are discussed. Hardware, software and implementation status are described along with the control and navigation system architecture. Some preliminary test results concerning a custom developed thruster are presented along with hydrodynamic drag calculations by the use of computer fluid dynamic methods.