Application of Maneuvering Based Control for Autonomous Inspection of Aquaculture Net Pens

摘要

Inspections of net pens in aquaculture fish farms must be done regularly to verify the structural integrity of the net. Structural failures can lead to a large number of escaped fish, resulting in significant economic loss and potential harm to wild fish populations. To perform safe, efficient, and cost-effective inspections, robotic solutions can be deployed. In this paper, a ship hull inspection procedure has been adapted for autonomous net pen inspection operations using an unmanned underwater vehicle to develop the basis for an end-to-end autonomous solution. The proposed approach integrates online path planning and path following modules based on multibeam forward-looking sonar measurements. This sensor enables the creation of an inspection map to keep track of the inspected areas. The solution was tested in field trials at an industrial-scale fish farm, demonstrating its applicability.