| Autor: |
Brett Seton, John McCulloch, Chris Sharman, Claire D'Este, Daniel Smith |
| Rok vydání: |
2014 |
| Předmět: |
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| Zdroj: |
Journal of Field Robotics. 32:152-166 |
| ISSN: |
1556-4959 |
| DOI: |
10.1002/rob.21529 |
| Popis: |
Passive acoustics represent a low-cost approach to detecting and avoiding other marine vehicles using limited computing and power resources. We present a robust safety behavior for long-term environmental sensing of rivers and estuaries demonstrated on a smartphone-driven, diving robot. The detection method is based on energy detection from the hydrophone output. Field testing demonstrates detection and avoidance of motorized vessels of various sizes with 94.1% accuracy and a 12.1% false positive rate. Dives are triggered with a median approach distance of approximately 700i¾?m, and they are completed within 500i¾?m of the detected vehicle. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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