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Underwater Robotic: localization with electrolocation for collision avoidance
G. Baffet1, Pol-Bernard Gossiaux2, M. Porez1, Frédéric Boyer1

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.
1 :  IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 :  SUBATECH - Laboratoire SUBATECH Nantes
Sciences de l'ingénieur/Automatique / Robotique

Sciences de l'ingénieur/Traitement du signal et de l'image


Informatique/Traitement du signal et de l'image
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CIFA_GBaffet_PBGossiaux_MPorez_FBoyer.pdf(443.4 KB)