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Avoiding marine vehicles with passive acoustics
journal contribution
posted on 2023-05-19, 05:48 authored by D'Este, C, Seton, B, McCulloch, J, Smith, D, Sharman, CPassive acoustics represent a low-cost approach to detecting and avoiding other marine vehicles using limited computing and power resources. We present a robust safety behavior for long-term environmental sensing of rivers and estuaries demonstrated on a smartphone-driven, diving robot. The detection method is based on energy detection from the hydrophone output. Field testing demonstrates detection and avoidance of motorized vessels of various sizes with 94.1% accuracy and a 12.1% false positive rate. Dives are triggered with a median approach distance of approximately 700 m, and they are completed within 500 m of the detected vehicle.
History
Publication title
Journal of Field RoboticsVolume
32Pagination
152-166ISSN
1556-4959Department/School
School of Information and Communication TechnologyPublisher
John Wiley & Sons, Inc.Place of publication
111 River St, Hoboken, NJ 07030 United StatesRights statement
Copyright 2014 Wiley Periodicals, Inc.Repository Status
- Restricted