Avoiding Marine Vehicles with Passive Acoustics. Issue 1 (8th July 2014)

• Record Type: Journal Article
• Authors: D'Este, Claire; Seton, Brett; McCulloch, John; Smith, Daniel; Sharman, Chris; Peynot, Thierry; Monteiro, Sildomar; Kelly, Alonzo; Devy, Michel
• Is Part Of: Journal of field robotics. Volume 32:Issue 1(2015:Jan./Feb.)
• Page Start: 152
• Page End: 166
• Publication Date: 2014-07-08
• Subjects: Robots, Industrial -- Periodicals; Automatic control -- Periodicals; 629.892
• DOI: 10.1002/rob.21529
• Languages: English
• ISSNs: 1556-4959

Abstract

<abstract abstract-type="main"> <title> <x xml:space="preserve">Abstract</x> </title> <p>Passive 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.</p> </abstract>