Underwater Navigation Behaviors Using Wide-Field Integration Methods

被引：0

作者：

Ranganathan, Badri N. ^{[1
]}

Dimble, Kedar D. ^{[1
]}

Faddy, James M. ^{[1
]}

Humbert, J. Sean ^{[1
]}

机构：

[1] Univ Maryland, Dept Aerosp Engn, Autonomous Vehicle Lab, College Pk, MD 20742 USA

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2013年

关键词：

LATERAL-LINE SYSTEM; ACTIVE ELECTROLOCATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Potential flow theory is used to derive velocity magnitude information for a) inclined flow past a stationary cylinder, b) moving cylinder inside a tunnel and c) moving cylinder inside a circular arena. Wide-Field Integration methods which are bioinspired techniques are used to extract relative states from the velocity magnitude signals for the above three situations. A linear controller using these relative states has been simulated to produce rheotaxis, wide-field obstacle avoidance, centering and wall following behavior. The approach is extended to a viscous inclined flow over an airfoil using an off-the-shelf CFD package where rheotaxis is again demonstrated using the same controller.

引用

页码：4147 / 4152

页数：6