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Underwater Robotic: localization with electrolocation for collision avoidance

Abstract : This paper proposes and compares two observers designed to calculate the location of an obstacle. The two methods are bio-inspired with a sense used by electric fishes of equatorial forests: the electrolocation. Firstly, this study presents the electrolocation and then develops two models of emitter-sensors inspired by the electrical sense. Secondly, the two models are used in different observers for detection and localisation of wall obstacles. The estimation methods are based on an Extended Kalman Filter algorithm. Observers are tested on simulations in order to assess their potentials and to analyze observability.
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http://hal.in2p3.fr/in2p3-00300570
Contributor : Dominique Girod <>
Submitted on : Friday, July 18, 2008 - 3:25:14 PM
Last modification on : Thursday, January 30, 2020 - 3:30:33 PM
Long-term archiving on: : Monday, May 31, 2010 - 8:41:29 PM

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  • HAL Id : in2p3-00300570, version 1

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G. Baffet, Pol-Bernard Gossiaux, Mathieu Porez, Frédéric Boyer. Underwater Robotic: localization with electrolocation for collision avoidance. 2008. ⟨in2p3-00300570⟩

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