Underwater robot navigation around a sphere using electrolocation sense and Kalman filter

被引：16

作者：

Lebastard, Vincent

Chevallereau, Christine

Amrouche, Ali

Jawad, Brahim

Girin, Alexis

Boyer, Frederic

Gossiaux, Pol Bernard

机构：

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

D O I：

10.1109/IROS.2010.5648929

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The aim of this paper is to perform the navigation of an underwater robot equipped with a sensor using the electric sense. The robot navigates in an unbounded environment in presence of spheres. This sensor is inspired of some species of electric fish. A model of this sensor composed of n spherical electrodes is established. The variations of the current due to the presence of the sphere is related to the model of Rasnow [3]. Unscented Kalman Filter is used to localize the robot with respect to the sphere and to estimate the size of the sphere. We show that bio-inspired motions improve the detection of the spheres. We illustrate the efficiency of the method in two cases: a two electrodes sensor and a four electrodes sensor.

引用

页码：4225 / 4230

页数：6

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