Design and Implementation of a Catamaran-Type Autonomous Surface Vehicle with a Multi-Parameter Sensor Deployment System for Water Quality Monitoring

Florez P.F.; Figueroa A.R.; Reategui R.H.; Cuentas C.V.; Alvarez N.R.; Cayo E.H. · International Conference on Artificial Intelligence, Computer, Data Sciences, and Applications, ACDSA 2026 (2026) · DOI: 10.1109/acdsa67686.2026.11468183

Resumen

This paper presents the design, development, and hydrodynamic validation of an asymmetric catamaran-type Autonomous Surface Vehicle (ASV) for real-time water quality monitoring and vertical profiling. The platform integrates an open-source hardware/software architecture based on Ardupilot for Guidance, Navigation, and Control (GNC), coupled with a motorized reel system that deploys sensors for in-situ measurement of pH, temperature, and dissolved oxygen. The asymmetric demi-hulls were designed to enhance hydrodynamic efficiency and stability in shallow inland waters. Numerical analyzes using the Slender Body Method were performed to estimate resistance and power requirements. Experimental towing tank tests of the full-scale prototype showed deviations below 10% from numerical predictions, confirming the low-resistance design. The drag coefficient (CD) remained nearly constant over the tested Reynolds range, indicating stable drag performance, while selfpropelled yaw rotation tests revealed that the moment coefficient (CM) varied with Reynolds number due to viscous effects at low speeds. Field trials at the San José de Uzuña Reservoir (Arequipa, Peru) demonstrated reliable autonomous navigation and consistent data collection across sampling points. The proposed ASV represents a cost-effective and modular platform for continuous environmental monitoring and freshwater research.

Instituciones: Universidad Nacional de Ingeniería; Universidad Católica San Pablo