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| =====The NTNU Fish Otter Project - A fish tracking system===== | =====The NTNU Fish Otter Project - A fish tracking system===== |
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| {{ :scenario.png?400|}}The Otter is a small unmanned catamaran propelled by two electrical fixed thrusters. The hull is based on the [[https://www.maritimerobotics.com/otter|Maritime Robotics Otter]], along with an interface card for thrusters, batteries and power management. Custom control hardware and software has been developed at NTNU to enable use of our own sensor and navigations system. | {{ :scenario.png?400|}} |
| | The NTNU fish Otter project aims to develop an autonomous multi-agent system for search, localization and persistent tracking of acoustic fish tags beneath the water surface. This will be accomplished through a fleet of vehicles, mainly consisting of four small catamarans that has been equipped with acoustic receivers. Expected research topics consists of: |
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| The goal for the vehicle is to provide a platform that can autonomously carry a hydrophone to wherever it is needed. This will enable tracking of tagged fish with a much larger precision than has been practical before, and therefore has the potential to give valuable new insights to marine biologists. On the way to reach this goal, the Otter project will have to solve multiple problems like collision avoidance, multi-vehicle autonomous coordination, covering search algorithms etc. all while operating in an unpredictable ocean environment. | * Optimized hardware and software design for vehicle controls, communications, sensors and payload integrations. |
| {{:otter-20191010.jpg?475|}} | * Optimal search, path and mission planning. |
| | * Underwater target localization and stealthy tracking. |
| | * Multi-agent formation control, edge intelligence and machine learning. |
| | * Adaptive and simultaneous environmental mapping and tracking. |
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| | ===== The Fish Otter Vessel ===== |
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| | The NTNU Fish Otter is a small unmanned catamaran propelled by two electrical fixed thrusters. The vessel is based around the hull, thrusters and power-distribution from a [[https://www.maritimerobotics.com/otter|Maritime Robotics Otter]], but with sensors and control systems designed at NTNU. This design is based on the [[https://lsts.fe.up.pt/|LSTS toolchain]], with DUNE running onboard the vessel. |
| | {{ :img_20210522_191212.jpg?nolink |}} |
| | {{:otter_nov2020.jpg?nolink|}} |
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| This wiki is maintained by Nikolai Lauvås, Master student at the Department of Engineering Cybernetics, NTNU. | This wiki is maintained by [[https://www.ntnu.no/ansatte/nikolal|Nikolai Lauvås]], PhD student at the Department of Engineering Cybernetics, NTNU. |