Active localization of VHF collared animals with aerial robots

Haluk Bayram, Krishna Doddapaneni, Nikolaos Stefas, Volkan Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

Tagging animals with radio devices is a commonly used technique in wildlife and conservation biology. We study the problem of localizing a tagged animal using the audio output of an off-the-shelf receiver mounted on an autonomous Unmanned Aerial Vehicle (UAV). This problem is motivated by the application of taking pictures of bears to document their interactions with the environment after contact with the radio signal has been established. We make two contributions. (1) Received signal characteristics depend on the environment, device and driver characteristics as well as target/receiver geometry. Due to complex interactions among these factors, directly estimating range or bearing from the signal may not be possible. Instead, we show that given a sufficient step-size, we can use signal characteristics to compare the proximity of two sensing locations with respect to the source. We present a novel model from data collected in field experiments. (2) Based on this model, we also present a local-search algorithm which drives the UAV toward the target. We study the performance of the algorithm in extensive simulations using field measurements. The algorithm has also been implemented on the UAV and tested in preliminary experiments.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
PublisherIEEE Computer Society
Pages934-939
Number of pages6
ISBN (Electronic)9781509024094
DOIs
StatePublished - Nov 14 2016
Event2016 IEEE International Conference on Automation Science and Engineering, CASE 2016 - Fort Worth, United States
Duration: Aug 21 2016Aug 24 2016

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2016-November
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2016 IEEE International Conference on Automation Science and Engineering, CASE 2016
Country/TerritoryUnited States
CityFort Worth
Period8/21/168/24/16

Bibliographical note

Funding Information:
This work was supported by National Science Foundation Awards #1111638, #0917676, and #1317788.

Publisher Copyright:
© 2016 IEEE.

Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.

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