Tracking Aquatic Invaders: Autonomous Robots for Monitoring Invasive Fish
Tracking Aquatic Invaders: Autonomous Robots for Monitoring Invasive Fish
复制标题
追踪水生入侵者：用于监控入侵鱼类的自主机器人
DOI：
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发表时间：
2013
影响因子：
5.7
通讯作者：
Volkan Isler
中科院分区：
文献类型：
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作者：
Pratap Tokekar;E. Branson;J. V. Hook;Volkan Isler
鲤鱼是一种高度侵入性的底食性鱼类，通过释放有害的营养物质来污染和控制湖泊。最近，生物学家开始研究鲤鱼的行为，用无线电发射器标记鱼。生物学家使用全球定位系统（GPS）和定向天线手动搜索并定位无线电标记的鱼。我们正在开发一种新型的机器人传感器系统，其中人类的努力被能够找到和跟踪标记鲤鱼的自主机器人所取代。在本文中，我们报告了我们系统的当前状态。我们提出了一个新的覆盖算法，找到标记的鱼和主动定位算法，精确定位它们。除了理论分析和模拟结果，我们报告的结果，从现场实验。
Carp is a highly invasive bottom-feeding fish that pollutes and dominates lakes by releasing harmful nutrients. Recently, biologists started studying the behavior of carp by tagging the fish with radio emitters. The biologists search for and localize the radio-tagged fish manually using a global positioning system (GPS) and a directional antenna. We are developing a novel robotic sensor system in which human effort is replaced by autonomous robots capable of finding and tracking tagged carp. In this article, we report the current state of our system. We present a new coverage algorithm for finding tagged fish and active localization algorithms for precisely localizing them. In addition to theoretical analysis and simulation results, we report results from field experiments.