2025A-OS6-3 A Terrain Adaptive Vehicle for Autonomous Exploration of Complex Seabed

抄録

All-terrain vehicles designed for the ocean exploration represent an important advancement for ensuring mobility on complex seabed, compared with conventional systems. By integrating robust mechanical design and adaptive navigation strategies these vehicles can traverse challenging substrates such as sand, mud, and steep rocks. In this paper, we describe our newly developed terrain-adaptive vehicle endowed with a non-compliant passive suspension system, and we introduce the control architecture under development in ROS2 to achieve fully autonomous navigation on complex seabed. Our system can overcome step obstacles as high as its running gear. Considering the limited sensors available for underwater vehicles compared with land vehicles, we propose a strategy that makes use of a map previously acquired to decide in a simulated environment whether a trajectory is feasible and its obstacles can be overcome, or a different path must be chosen instead.