Skip to Main content Skip to Navigation
Conference papers

Underwater electro-navigation in the dark

Abstract : — This article proposes a solution to the problem of the navigation of underwater robots in confined unstructured environments wetted by turbid waters. The solution is based on a new sensor bio-inspired from electric fish. Exploiting the morphology of the sensor as well as taking inspiration from passive electro-location in real fish, the solution turns out to be a sensory-motor loop encoding a simple behavior relevant to exploration missions. This behavior consists in seeking conductive objects while avoiding insulating ones. The solution is illustrated on experiments. It is robust and works even in very unstructured scenes. It does not require any model and is quite cheap to implement.
Document type :
Conference papers
Complete list of metadata

Cited literature [12 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01503049
Contributor : Vincent Lebastard Connect in order to contact the contributor
Submitted on : Thursday, April 6, 2017 - 3:09:14 PM
Last modification on : Wednesday, April 27, 2022 - 3:47:41 AM
Long-term archiving on: : Friday, July 7, 2017 - 2:54:22 PM

File

icra_embodied_final1.pdf
Files produced by the author(s)

Identifiers

Citation

Vincent Lebastard, Frédéric Boyer, Christine Chevallereau, Noël Servagent. Underwater electro-navigation in the dark. 2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, Minnesota, USA, United States. pp.1155 - 1160, ⟨10.1109/ICRA.2012.6224836⟩. ⟨hal-01503049⟩

Share

Metrics

Record views

345

Files downloads

151