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Implementing fully automatic unmanned surface vehicles (USVs) monitoringwater quality is challenging since effectively collecting environmental datawhile keeping the platform stable and environmental-friendly is hard toapproach. To address this problem, we construct a USV that can automaticallynavigate an efficient path to sample water quality parameters in order tomonitor the aquatic environment. The detection device needs to be stable enoughto resist a hostile environment or climates while enormous volumes will disturbthe aquaculture environment. Meanwhile, planning an efficient path forinformation collecting needs to deal with the contradiction between therestriction of energy and the amount of information in the coverage region. Totackle with mentioned challenges, we provide a USV platform that can perfectlybalance mobility, stability, and portability attributed to its specialround-shape structure and redundancy motion design. For informative planning,we combined the TSP and CPP algorithms to construct an optimistic plan forcollecting more data within a certain range and limiting energy restrictions.Wedesigned a fish existence prediction scenario to verify the novel system inboth simulation experiments and field experiments. The novel aquacultureenvironment monitoring system significantly reduces the burden of manualoperation in the fishery inspection field. Additionally, the simplicity of thesensor setup and the minimal cost of the platform enables its other possibleapplications in aquatic exploration and commercial utilization.

A Novel Autonomous Robotics System for Aquaculture Environment Monitoring