Journal
APPLIED OCEAN RESEARCH
Volume 99, Issue -, Pages -Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.apor.2020.102142
Keywords
Autonomous underwater vehicle; Bionic lateral lines; Bionic sensor; Motion perception
Categories
Funding
- National Science Foundation of China [51979261, 61540010]
- Applied Fundamental Research Project of Qingdao [2019-9-1-14-jch]
- Shandong Natural Science Foundation [ZR201709240210]
- Fundamental Research Fund for Central Universities [201941008]
- ARC DECRA [DE190100931]
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Attitude perception for autonomous underwater vehicles (AUVs) is a challenging task. Most of existing sensor systems are unable to detect the navigation attitude of AUVs while at the same time to identify the attitude geometric parameters. In order to bridge this research gap, a new artificial lateral line sensor (ALLS) system based on a pressure sensor array is proposed to perform pitch motion perception for AUVs. First of all, a boxfish-like robot was constructed based on the geometrical morphology of a boxfish. The proposed ALLS system was fabricated in the fish robot. Then sensing experiments in the conditions of different pitch motions of the robot were conducted and the experimental measurements were compared with numerical simulation results. The comparison showed consistent mechanisms between the numerical bionic sensor model and the ALLS in perceiving the pitch attitude of the fish robot. Subsequently, pressure measurements of the fish robot were processed by popular machine learning algorithms such as random forest and artificial neural network to establish a vehicle pitch identification model. The analysis results demonstrate that the developed ALLS system is effective in pitch motion parameters recognition, which may provide a new way for self-attitude perception and adjustment of AUVs.
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