Tracking a Sea Turtle by an AUV with a Multibeam Imaging Sonar: Toward Robotic Observation of Marine Life
| Autor: | Takashi Ishihara, Hiroumi Horimoto, Kazuya Kofuji, Toshihiro Maki |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
biology business.industry Marine life Robotics 02 engineering and technology biology.organism_classification Tracking (particle physics) Imaging sonar Convolutional neural network Computer Science Applications 020901 industrial engineering & automation Sea turtle Control and Systems Engineering Sonar imagery Artificial intelligence Underwater business Geology Marine engineering |
| Zdroj: | International Journal of Control, Automation and Systems. 18:597-604 |
| ISSN: | 2005-4092 1598-6446 |
| DOI: | 10.1007/s12555-019-0690-4 |
| Popis: | This paper proposes a method for autonomous underwater vehicles to chase sea turtles without attaching any tag to them, toward efficient and long-term observation of marine life. The method uses a multibeam imaging sonar as the main sensor to detect sea turtles. The method utilizes convolutional neural network (CNN) for detecting a sea turtle in sonar imagery. Surge and yaw movements of the vehicle are controlled to maintain the relative distance and direction to the detected target. The proposed method was implemented in the AUV HATTORI. The AUV succeeded in tracking a sea turtle in natural condition for 270 seconds in shallow sea. |
| Databáze: | OpenAIRE |
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