文章基本信息

标题：Autonomous Tracking of Sea Turtles based on Multibeam Imaging Sonar: Toward Robotic Observation of Marine Life
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作者：Toshihiro Maki ; Hiroumi Horimoto ; Takashi Ishihara 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：21
页码：86-90
DOI：10.1016/j.ifacol.2019.12.288
语种：English
出版社：Elsevier
摘要：This paper proposes a method for autonomous underwater vehicles to track 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.
关键词：KeywordsAutonomous underwater vehiclesField roboticsImaging sonarCNNSea Turtle