Underwater Reflex Navigation in Confined Environment Based on Electric Sense - IN2P3 - Institut national de physique nucléaire et de physique des particules
Article Dans Une Revue IEEE Transactions on Robotics Année : 2013

Underwater Reflex Navigation in Confined Environment Based on Electric Sense

Résumé

This paper shows how a sensor inspired by an electric fish could be used to help navigate in confined environments. Exploiting the morphology of the sensor, the physics of electric interactions, as well as taking inspiration from passive electrolocation in real fish, a set of reactive control laws encoding simple behaviors, such as avoiding any electrically contrasted object, or seeking a set of objects while avoiding others according to their electric properties, is proposed. These reflex behaviors are illustrated on simulations and experiments carried out on a setup dedicated to the study of electric sense. The approach does not require a model of the environment and is quite cheap to implement.
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Dates et versions

in2p3-00858812 , version 1 (06-09-2013)

Identifiants

Citer

Frédéric Boyer, Vincent Lebastard, C. Chevallereau, Noël Servagent. Underwater Reflex Navigation in Confined Environment Based on Electric Sense. IEEE Transactions on Robotics, 2013, 29, pp.945-956. ⟨10.1109/TRO.2013.2255451⟩. ⟨in2p3-00858812⟩
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