NDLI: Tracking of a tagged leopard shark with an AUV: Sensor calibration and state estimation

Content Provider	IEEE Xplore Digital Library
Author	Forney, C. Manii, E. Farris, M. Moline, M.A. Lowe, C.G. Clark, C.M.
Copyright Year	2012
Description	Author affiliation: Department of Computer Science, California Polytechnic State University, San Luis Obispo, 93405, USA (Forney, C.; Manii, E.) \|\| Faculty of Computer Engineering, California Polytechnic State University, San Luis Obispo, 93405, USA (Clark, C.M.) \|\| Department of Biological Sciences, California State University, Long Beach, 90840, USA (Farris, M.) \|\| Faculty of Biological Sciences, California Polytechnic State University, San Luis Obispo, 93405, USA (Moline, M.A.) \|\| Faculty of Biological Sciences, California State University, Long Beach, 90840, USA (Lowe, C.G.)
Abstract	Presented is a method for estimating the 2D planar position, velocity, and orientation states of a tagged shark. The method is designed for implementation on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a tag. The particular hydrophone system used here provides a measurement of relative bearing angle to the tag, but does not provide the sign (+ or -) of the bearing angle. A Particle Filter was used for fusing these measurements over time to produce a state estimate of the tag location. The Particle Filter combined with an active control system allowed the system to overcome the ambiguity in the sign of the bearing angle. This state estimator was validated by tracking both a stationary tag and moving tag with known positions. These experiments revealed state estimate errors were on par with those obtained by manually driven boat based tracking systems, the current method used for tracking fish and sharks over long distances. Final experiments involved the catching, releasing, and an autonomous AUV tracking of a 1 meter Leopard Shark (Triakis semifasciata) in SeaPlane Lagoon, Los Angeles, California.
Starting Page	5315
Ending Page	5321
File Size	1150363
Page Count	7
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224991
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Receivers Acoustics Tracking Sonar equipment Particle filters Robots Global Positioning System
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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