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Acoustical Underwater Localization of a Remotely Operated Vehicle in Mariculture (CROSBI ID 716959)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Kapetanović, Nadir ; Nađ, Đula ; Lončar, Ivan ; Slošič, Vladimir ; Mišković, Nikola Acoustical Underwater Localization of a Remotely Operated Vehicle in Mariculture // Proceedings of the 17th International Conference on Intelligent Autonomous Systems (IAS-17). 2022. str. 1-12

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

Povezanost rada

Elektrotehnika, Računarstvo, Strojarstvo