Acoustical Underwater Localization of a Remotely Operated Vehicle in Mariculture (CROSBI ID 716959)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kapetanović, Nadir ; Nađ, Đula ; Lončar, Ivan ; Slošič, Vladimir ; Mišković, Nikola
engleski
Acoustical Underwater Localization of a Remotely Operated Vehicle in Mariculture
Localization of underwater vehicles, namely remotely operated vehicles (ROVs), used in mariculture autonomous inspection applications represents a challenging problem. The need for accurate localization of an ROV is further emphasized by often cluttered underwater environment of fisheries with many ropes and mooring around the net pens potentially causing entanglement with ROV’s tether. This paper presents an overview and preliminary results of the HEKTOR (Heterogeneous Autonomous Robotic System in Viticulture and Mariculture) project regarding the ROV localization using acoustics mounted onto an autonomous surface vehicle (ASV). The ROV and the developed ASV are described, together with the hardware and software integration of a short baseline acoustic localization system . Preliminary sea trial results show promising performance of the localization system, proving that it could be used in autonomous net pen inspection missions.
marine robotics ; remotely operated vehicle (ROV) ; autonomous surface vehicle (ASV) ; mariculture ; autonomous inspection ; bio-fouling detection ; acoustical localization, short baseline (SBL)
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Podaci o prilogu
1-12.
2022.
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objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 17th International Conference on Intelligent Autonomous Systems (IAS-17)
Podaci o skupu
17th International Conference on Intelligent Autonomous Systems (IAS-17)
predavanje
01.01.2022-01.01.2022
Zagreb, Hrvatska