Premium
Avoiding Marine Vehicles with Passive Acoustics
Author(s) -
D'Este Claire,
Seton Brett,
McCulloch John,
Smith Daniel,
Sharman Chris
Publication year - 2015
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21529
Subject(s) - hydrophone , marine engineering , acoustics , computer science , energy (signal processing) , environmental science , engineering , physics , quantum mechanics
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.