Robust analysis of an underwater navigational strategy in electrically heterogeneous corridors
Autor: | J. Sean Humbert, Kedar D. Dimble, Jishnu Keshavan, B. N. Ranganathan |
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Rok vydání: | 2016 |
Předmět: |
Output feedback
0209 industrial biotechnology Engineering Biomimetic materials Biophysics 02 engineering and technology Biochemistry Feedback 020901 industrial engineering & automation Biomimetic Materials Obstacle avoidance 0202 electrical engineering electronic engineering information engineering Animals Underwater Engineering (miscellaneous) business.industry Water Control engineering Equipment Design Underwater vehicle Molecular Medicine 020201 artificial intelligence & image processing business Robust analysis Biotechnology Electric Fish Spatial Navigation |
Zdroj: | Bioinspirationbiomimetics. 11(4) |
ISSN: | 1748-3190 |
Popis: | Obstacles and other global stimuli provide relevant navigational cues to a weakly electric fish. In this work, robust analysis of a control strategy based on electrolocation for performing obstacle avoidance in electrically heterogeneous corridors is presented and validated. Static output feedback control is shown to achieve the desired goal of reflexive obstacle avoidance in such environments in simulation and experimentation. The proposed approach is computationally inexpensive and readily implementable on a small scale underwater vehicle, making underwater autonomous navigation feasible in real-time. |
Databáze: | OpenAIRE |
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