Biomimetic localization using the electrolocation sense of the electric fish

Authors:
Guillaume Baffet;Frederic Boyer;Pol Bernard Gossiaux
Affiliations:
IRCCYN Laboratory UMR CNRS 6597, Ecole des Mines de Nantes, La Chantrerie, France;IRCCYN Laboratory UMR CNRS 6597, Ecole des Mines de Nantes, La Chantrerie, France;SUBATECH Laboratory UMR CNRS 6457, Ecole des Mines de Nantes, La Chantrerie, France
Venue:
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
Year:
2009

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Abstract

This paper develops and compares two systems designed to calculate the location of an obstacle in troubled and dark waters. The two methods are bio-inspired with a sense used by electric fishes: the electrolocation sense. Firstly, this study proposes two theoretical models of emitter-sensors which are named 2-spheres and 4-hemispheres. Secondly, the two models are used to construct two different observers for localisation of wall obstacles. The estimation methods are based on an Extended Kalman Filter algorithm. Observer evaluations show their potentials and observability.