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2022 (English)In: Sensors, E-ISSN 1424-8220, Vol. 22, no 13, article id 5064Article in journal (Refereed) Published
Abstract [en]
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.
Place, publisher, year, edition, pages
MDPI AG, 2022
Keywords
seaweed farm, algae farm, behavior trees, simulation, mission planning, field testing, system integration, AUV
National Category
Robotics Fish and Aquacultural Science
Identifiers
urn:nbn:se:kth:diva-315805 (URN)10.3390/s22135064 (DOI)000822263500001 ()35808560 (PubMedID)2-s2.0-85133393540 (Scopus ID)
Note
QC 20220721
2022-07-212022-07-212024-03-18Bibliographically approved