Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/119098
Citations
Scopus Web of Science® Altmetric
?
?
Type: Journal article
Title: TrackerBots: autonomous unmanned aerial vehicle for real-time localization and tracking of multiple radio-tagged animals
Author: Nguyen, H.
Chesser, M.
Koh, L.
Rezatofighi, S.H.
Ranasinghe, D.
Citation: Journal of Field Robotics, 2019; 36(3):617-635
Publisher: Wiley
Issue Date: 2019
ISSN: 1556-4959
1556-4967
Statement of
Responsibility: 
Hoa Van Nguyen, Michael Chesser, Lian Pin Koh, S. Hamid Rezatofighi, Damith C. Ranasinghe
Abstract: Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual survey methods. We present a novel autonomous aerial vehicle system—TrackerBots—to track and localize multiple radio‐tagged animals. The simplicity of measuring the received signal strength indicator (RSSI) values of very high frequency (VHF) radio‐collars commonly used in the field is exploited to realize a low‐cost and lightweight tracking platform suitable for integration with unmanned aerial vehicles (UAVs). Due to uncertainty and the nonlinearity of the system based on RSSI measurements, our tracking and planning approaches integrate a particle filter for tracking and localizing and a partially observable Markov decision process for dynamic path planning. This approach allows autonomous navigation of a UAV in a direction of maximum information gain to locate multiple mobile animals and reduce exploration time and, consequently, conserve on‐board battery power. We also employ the concept of search termination criteria to maximize the number of located animals within power constraints of the aerial system. We validated our real‐time and online approach through both extensive simulations and field experiments with five VHF radio‐tags on a grassland plain.
Keywords: Aerial robotics; radio‐collared animals; remote sensing; UAV; VHF telemetry
Rights: © 2019 Wiley Periodicals, Inc.
RMID: 0030106816
DOI: 10.1002/rob.21857
Grant ID: http://purl.org/au-research/grants/arc/LP160101177
Appears in Collections:Electrical and Electronic Engineering publications

Files in This Item:
There are no files associated with this item.


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.