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| HAL : hal-00704074, version 1 |
| Fiche détaillée |  Récupérer au format |
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| Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on, Taïwan, Province De Chine (2010) |
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| Underwater robot navigation around a sphere using electrolocation sense and Kalman filter |
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| Vincent Lebastard1Christine Chevallereau1Ali Amrouche1Brahim Jawad1Alexis Girin1Frédéric Boyer1Pol Bernard Gossiaux2 |
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| (03/12/2010) |
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| 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. |
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| 1 : | IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes |
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| 2 : | SUBATECH - Laboratoire SUBATECH Nantes |
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| Domaine | : | Sciences de l'ingénieur/Automatique / Robotique |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00704074, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00704074 | |
| oai:hal.archives-ouvertes.fr:hal-00704074 | |
| Contributeur : Brahim Jawad | |
| Soumis le : Mardi 5 Juin 2012, 15:54:07 | |
| Dernière modification le : Mercredi 6 Juin 2012, 13:06:07 | |
