Path Planning and Navigation of Oceanic Autonomous Sailboats and Vessels: A Survey

Oceanic autonomous surface vehicles(ASVs) are one kind of autonomous marine robots that have advantages of energy saving and is flexible to use. Nowadays, ASVs are playing an important role in marine science, maritime industry, and national defense. It could improve the efficiency of oceanic data collection, ensure marine transportation safety, and protect national security. One of the core challenges for ASVs is how to plan a safe navigation autonomously under the complicated ocean environment. Based on the type of marine vehicles, ASVs could be divided into two categories: autonomous sailboats and autonomous vessels. In this article, we review the challenges and related solutions of ASVs' autonomous navigation, including modeling analysis, path planning and implementation. Finally, we make a summary of all of those in four tables and discuss about the future research directions.     

A methodology for historical assessment of compliance with environmental water allocations: lessons from the Crocodile (East) River,South Africa

Abstract

Environmental flow provisions are a legal obligation under South Africa’s National Water Act (1998) where they are known as the “ecological reserve”, which is now being realized in river operations. This article presents a semi-quantitative method, based on flow–duration curve (FDC) analysis, used to assess the compliance of the Crocodile (East) River with the reserve in an historical context. Using both monthly and daily average flow data, we determine the extent and magnitude of non-compliant flows against environmental water requirements (EWRs) for three periods (1960–1983, 1983–2000, and 2000–2010). The results suggest a high degree of non-compliance, with the reserve increasing with each of these periods (14%, 35%, and 39% of the time), respectively, where effects were most pronounced in the low-flow season. The results also suggest that, whilst the magnitudes of reserve infringements for the latter period are relatively high, there appears to have been some improvement since the implementation of the river’s operating rules.

Editor Z.W. Kundzewicz; Guest editor M. Acreman

Citation Riddell, E., Pollard, S., Mallory, S., and Sawunyama, T., 2014. A methodology for historical assessment of compliance with environmental water allocations: lessons from the Crocodile (East) River, South Africa. Hydrological Sciences Journal, 59 (3–4), 831–843.