Underwater robot guidance, navigation and control in fish net pens

Abstract

Aquaculture robotics is receiving increased attention and is subject to unique challenges and opportunities for research and development. Guidance, navigation and control are all important aspects for realizing aquaculture robotics solutions that can greatly benefit the industry in the future. Sensor technologies, navigation methods, motion planners and state control all have a role to play, and this paper introduces some technologies and methods that are currently being applied in research and industry before providing some examples of challenges that can be targeted in the future.

Figures (5)

• Figure 1: An ROV operating inside an aquaculture net pen. Image: Herman Biørn Amundsen.
• Figure 2: DP footprint of an ROV using a USBL system for positoin measurements. Figure from ohrem2022robust and used under Creative Commons CC-BY license.
• Figure 3: Fast Fourier Transform used to estimate distance and pose of an ROV relative to a net structure.
• Figure 4: An ROV with a DVL pointed towards the net structure providing distance, heading and velocity measurements. Figure from amundsen2021autonomous and used under Creative Commons CC-BY license
• Figure 5: Trajectory of an ROV performing waypoint tracking and avoiding obstacles using the elastic band method. Figure from amundsen2024three used under the Creative Commons CC-BY license.