A System for Autonomous Seaweed Farm Inspection with an Underwater Robot

Autor: Ivan Stenius, John Folkesson, Sriharsha Bhat, Christopher Iliffe Sprague, Li Ling, Özer Özkahraman, Nils Bore, Zheng Cong, Josefine Severholt, Carl Ljung, Anna Arnwald, Ignacio Torroba, Fredrik Gröndahl, Jean-Baptiste Thomas
Jazyk: angličtina
Rok vydání: 2022
Předmět:
Zdroj: Sensors, Vol 22, Iss 13, p 5064 (2022)
Druh dokumentu: article
ISSN: 1424-8220
78063027
DOI: 10.3390/s22135064
Popis: This paper outlines challenges and opportunities in operating underwater robots (so-called AUVs) on a seaweed farm. The need is driven by an emerging aquaculture industry on the Swedish west coast where large-scale seaweed farms are being developed. In this paper, the operational challenges are described and key technologies in using autonomous systems as a core part of the operation are developed and demonstrated. The paper presents a system and methods for operating an AUV in the seaweed farm, including initial localization of the farm based on a prior estimate and dead-reckoning navigation, and the subsequent scanning of the entire farm. Critical data from sidescan sonars for algorithm development are collected from real environments at a test site in the ocean, and the results are demonstrated in a simulated seaweed farm setup.
Databáze: Directory of Open Access Journals
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