LORCA: A high performance USV with applications to surveillance and monitoring

Abstract

In this paper, we introduce the Lehigh Ocean Research Craft Autonomous (LORCA) — a high performance USV with applications to surveillance and monitoring tasks. Compact (1.2 m), lightweight (5 kg) and robust (one-piece carbon fiber design), LORCA is capable of speeds of 80 kph (50 mph). It was also designed to be capable of operations in ocean waves, with self-righting ability in all sea states. We first review the LORCA design and technical specifications. We then discuss our initial work in trajectory following where an EKF-based approach is employed for localization and a sample based planner for control. Using only the sensing and computational resources available on a 3DR Pixhawk, we demonstrate effective trajectory following in a riverine environment at peak speeds of 48 kph (30 mph). We conclude with discussions on the limitations of the current approach and planned future work.