HAL : hal-00634830, version 1

DOI : 10.1109/IROS.2010.5648929

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei : Taïwan, Province De Chine (2010)

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

Vincent Lebastard1, Christine Chevallereau1, Ali Amrouche1, Brahim Jawad1, Alexis Girin1, Frédéric Boyer1, P.B. Gossiaux2

(18/10/2010)

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.

1 :	IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 :	SUBATECH - Laboratoire SUBATECH Nantes

Domaine

:

Sciences de l'ingénieur/Automatique / Robotique

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Contributeur : Vincent Lebastard <>

Soumis le : Lundi 24 Octobre 2011, 09:47:47

Dernière modification le : Jeudi 5 Janvier 2012, 14:19:05