Tracking and Following a Tagged Leopard Shark with an Autonomous Underwater Vehicle

摘要: This paper presents a prototype system that enables an autonomous underwater vehicle (AUV) to autonomously track and follow shark has been tagged with acoustic transmitter. The AUV's onboard processor handles both real-time estimation of the shark's two-dimensional planar position, velocity, orientation states, as well straightforward control scheme drive AUV toward shark. is equipped stereo- hydrophone receiver detects signals transmitted by tag. particular used here provides measurement relative bearing angle tag, but it does not provide sign (+ or −) angle. Estimation accomplished using particle filter fuses measurements over time produce state estimate tag location. combined heuristic-based controller allows overcome ambiguity in estimator were validated tracking stationary moving known positions. Offline analysis these data showed can be improved optimizing diffusion parameters prediction step filter, considering signal strength resampling stage filter. These experiments revealed errors on order those obtained current long-distance shark-tracking methods, i.e., manually driven boat-based systems. Final took place SeaPlane Lagoon, Los Angeles, where 1-m leopard (Triakis semifasciata) was caught, tagged, released before being tracked followed proposed for several hours. C