Terrain-Relative Diver following with Autonomous Underwater Vehicle for Coral Reef Mapping

Lakshmi Gana Prasad Antervedi, Zhiang Chen, Harish Anand, Roberta Martin, Ramon Arrowsmith, Jnaneshwar Das

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Coral reef mapping is an indispensable step in coral conservation efforts across the globe. Monitoring reefs at regular intervals helps conservationists understand and address the problems causing coral reef degradation. Autonomous Underwater Vehicles (AUVs) have a tremendous potential to assist humans in these efforts. Delegating mapping and measurement acquisition tasks to AUVs would not only limit the number of human divers required for the missions but could also improve the quality of the maps developed. Consistency in imagery and spectroscopic measurements could be significantly improved by keeping the imagery payload at a fixed distance from the reefs to reduce heteroscedasticity in the measurements. To this end, we present a Terrain-Relative Diver Following system for an AUV that can follow a human diver while maintaining a fixed distance from the terrain. Our proposed system consists of separate modules for diver detection, tracking, and terrain following. We extensively tested our system in Gazebo simulation environment with three different terrain models, including a terrain model of a coral reef in Honaunau Bay, Hawaii. To the best of our knowledge, this is the first diver following system that also carries out terrain-relative navigation, ensuring minimal variation of distance to the terrain. We have released the code for our system, and the datasets used in the detection module.

Original languageEnglish (US)
Title of host publication2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
PublisherIEEE Computer Society
Pages2307-2312
Number of pages6
ISBN (Electronic)9781665418737
DOIs
StatePublished - Aug 23 2021
Event17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, France
Duration: Aug 23 2021Aug 27 2021

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2021-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Country/TerritoryFrance
CityLyon
Period8/23/218/27/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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