A SYSTEM FOR AUTONOMOUS TRACKING AND FOLLOWING OF SHARKS WITH AN AUTONOMOUS UNDERWATER VEHICLE
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Transcript of A SYSTEM FOR AUTONOMOUS TRACKING AND FOLLOWING OF SHARKS WITH AN AUTONOMOUS UNDERWATER VEHICLE
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A SYSTEM FOR AUTONOMOUS TRACKING AND FOLLOWING OF SHARKS WITH AN AUTONOMOUS UNDERWATER
VEHICLE Esfandiar Manii
Advisor: Dr. Christopher M. ClarkA Presentation for CSC 590
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Introduction
• Tracking Objects underwater?
• Why do we want to track those objects?
• What to track?
• Why Sharks?
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• What type of Shark has been chosen?
Sharks
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What do we need to track a shark?
• At least a tracking device (Acoustic Systems e.g. Sonars, Hydrophones; GPS Systems, visual tracking Systems)
• An autonomous underwater vehicle (AUV)
• A Shark
Requirements
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• Acoustic System tracking device.
The Tracking device
Tracking Device
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• Consists of two hydrophones.• One or more acoustic transmitter.
Tracking Device
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Acoustic transmitter
Transmitter
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The AUV
AUV
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AUV
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System Diagram
System Diagram
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AUV and Shark
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AUV and Shark
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Control System
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Localization• Particle Filter.
Algorithm
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Algorithm
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Algorithm
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Algorithm
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Algorithm
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Is it really intelligent?• By getting more signals from the tracking
device, robot learns more.
• Motion planner tries to find an optimalpath to the shark, to decrease the travelleddistance.• Depend on the situation, robot stop when the shark is so close and it setsits speed in comparison with the distance.
• If the AUV loses the shark, depend onthe situation, it stops or seek for the shark.
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Improved Controller
Improved Controller
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Improved Controller
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Improved Controller
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Comparison
Improved Controller
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How can we trust the algorithm?
• Experiments at Cal Poly pier, Avila Beach.
• Stationary transmitter.
• Non-Stationary transmitter.
Validation
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Stationary Tag Tracking
Cal Poly pier, Avila Beach.
Validation
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Validation
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Tagged AUV Tracking
Validation
SeaPlane Lagoon, LA
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Validation
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Validation
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Shark Tracking
Validation
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Validation
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Validation
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Luring a Shark
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Field Experiment
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• Thank you all for your attention.