Naslov
Acoustical Underwater Localization of a Remotely Operated Vehicle in Mariculture

Autori
Kapetanović, Nadir ; Nađ, Đula ; Lončar, Ivan ; Slošič, Vladimir ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 17th International Conference on Intelligent Autonomous Systems (IAS-17) / - , 2022, 1-12

Skup
17th International Conference on Intelligent Autonomous Systems (IAS-17)

Mjesto i datum
Zagreb, Hrvatska, 13.06.2022. - 16.06.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
marine robotics ; remotely operated vehicle (ROV) ; autonomous surface vehicle (ASV) ; mariculture ; autonomous inspection ; bio-fouling detection ; acoustical localization, short baseline (SBL)

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Strojarstvo

POVEZANOST RADA