Environment reconstruction and navigation with electric sense based on a Kalman filter
Electric fish sense the perturbations of a self-generated electric field through their electro-receptive skin. This sense allows them to navigate and reconstruct their environment in conditions where vision and sonar cannot work. In this article, we use a sensor inspired by this sense to address bot...
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| Veröffentlicht in: | The International journal of robotics research 2013-02, Vol.32 (2), p.172-188 |
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| container_title | The International journal of robotics research |
| container_volume | 32 |
| creator | Lebastard, Vincent Chevallereau, Christine Girin, Alexis Servagent, Noël Gossiaux, Pol-Bernard Boyer, Frédéric |
| description | Electric fish sense the perturbations of a self-generated electric field through their electro-receptive skin. This sense allows them to navigate and reconstruct their environment in conditions where vision and sonar cannot work. In this article, we use a sensor inspired by this sense to address both problems of locating and estimating the size of small objects (electrolocation) and navigating in a tank. Based on a Kalman filter, any small object in the surroundings of the motion-controlled sensor can be modeled as an equivalent sphere whose location is well estimated by the filter. As a first application to the problem of navigation, the filter is included into a closed feedback loop in order to achieve wall following in a tank. Our experimental results demonstrate the feasibility of this approach. |
| doi_str_mv | 10.1177/0278364912470181 |
| format | Article |
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| language | eng |
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| source | SAGE Complete A-Z List |
| subjects | Computer Science Control systems Control theory Equivalence Feedback loops Fish Kalman filters Navigation Reconstruction Robotics Sensors Sonar Tanks Walls |
| title | Environment reconstruction and navigation with electric sense based on a Kalman filter |
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