Development and experimental testing of an autonomous jellyfish detection and removal robot system

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• 作者：Donghoon Kim ; Jae-Uk Shin ; Hyungjin Kim…
• 关键词：Autonomous navigation ; jellyfish removal ; unmanned surface vehicle ; vision processing
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：14
• 期：1
• 页码：312-322
• 全文大小：3,215 KB
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• 作者单位：Donghoon Kim (1)
  Jae-Uk Shin (1)
  Hyungjin Kim (1)
  Hanguen Kim (1)
  Donghwa Lee (1)
  Seung-Mok Lee (1)
  Hyun Myung (1)
  
  1. Urban Robotics Laboratory (URL), KAIST, 291 Daehakro, Yuseong-gu, Daejeon, 305-701, Korea
  
• 刊物类别：Engineering
• 刊物主题：Control Engineering
  
• 出版者：The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engi
• ISSN：2005-4092

文摘

The development of an autonomous jellyfish removal robot system, named JEROS, and related experimental results are presented in this paper. The number of jellyfish has drastically increased due to changes to the marine environment. Large jellyfish swarms are threatening marine ecosystems and inducing enormous damage globally to marine-related industries. JEROS has been designed based on a twin hull-type surface vehicle equipped with a device for shredding jellyfish. Additionally, an electrical control system, a guidance, navigation, and control (GNC) system, and a vision-based jellyfish detection system are embedded to remove jellyfish autonomously. The jellyfish removal mission starts when the location of jellyfish is detected, followed by planning a path for jellyfish removal, tracking the path using an autonomous navigation system, and shredding jellyfish while tracking. The performance of the vision-based jellyfish detection, navigation, and jellyfish removal was demonstrated through experiments in a pond and field tests in Masan Bay located on the southern coast of South Korea. Keywords Autonomous navigation jellyfish removal unmanned surface vehicle vision processing