Artificial Lateral Lines-based an Active Obstacle Recognition Strategy and Performance Evaluation for Bionic Underwater Robots

Ao Li1; Shuxiang Guo1,2; Chunying Li2

2024

10.1109/JSEN.2024.3417809

IEEE Sensors Journal   影响因子和分区

2379-9153

In the dark or muddy environments of the ocean, the artificial lateral lines (ALLs) based on bionics are mostly used to detect oscillating obstacles such as dipole sources. To further expand the function of ALLs, in this paper, the active recognition of non-oscillating obstacles is realized by an ALLs based on a pressure sensor array. Firstly, the experimental and simulation platforms with the sensor array are built, and a perception framework is proposed for processing the sensor data. Then, the simulation platform is verified through the pool experiment, and the mechanisms of pressure changes generated by static obstacles in the process of robot active recognition are analyzed. Finally, according to these mechanisms, the obstacles are recognized through a multi-layer perception framework that considers the time and spatial context. The recognition results show the ALLs and the perception framework are effective in the active obstacle recognition of robots. The effects of feature correlation, data volume, and sensor layout are also analyzed. In addition, the data from the pool experiment can also obtain satisfactory perception results.

EI

其他

ENGINEERING

1.School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Aerospace Center Hospital, Beijing Institute of Technology, Beijing, China
2.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China

Ao Li,Shuxiang Guo,Chunying Li. Artificial Lateral Lines-based an Active Obstacle Recognition Strategy and Performance Evaluation for Bionic Underwater Robots[J]. IEEE Sensors Journal,2024,PP(99).

Ao Li,Shuxiang Guo,&Chunying Li.(2024).Artificial Lateral Lines-based an Active Obstacle Recognition Strategy and Performance Evaluation for Bionic Underwater Robots.IEEE Sensors Journal,PP(99).

Ao Li,et al."Artificial Lateral Lines-based an Active Obstacle Recognition Strategy and Performance Evaluation for Bionic Underwater Robots".IEEE Sensors Journal PP.99(2024).