Exploration of Objects by an Underwater Robot with Electric Sense
In this article, we propose a solution to the underwater exploration of objects using a new sensor inspired from the electric fish. The solution is free of any model and is just based on the combination of elementary behaviors, each of these behaviors being achieved through direct feedback of the electric measurements. The solution is robust, cheap and easy to implement. After, stating and interpreting it, the article ends with a few experimental results consisting in exploring small and large unknown objects.
KeywordsElectric Organ Discharge Axial Current Sequential Graph Underwater Robot Electric Sense
Unable to display preview. Download preview PDF.
- 1.Lissmann, H.W., Machin, K.E.: The mechanism of object location in gymnarchus niloticus and similar fish. The Journal of Experimental Biology 35, 451–486 (1958)Google Scholar
- 3.The angels project (2009), http://www.theangelsproject.eu
- 4.Solberg, J.R., Lynch, K.M., MacIver, M.A.: Robotic electrolocation: Active underwater target localization. In: International Conference on Robotics and Automation, pp. 4879–4886 (2007)Google Scholar
- 5.Jakson, J.D.: Classical Electrodynamics, 3rd edn. John Wiley and Sons (1999)Google Scholar