Object localisation using active whiskers on underwater autonomous walking robot
Rooney, T. print, Pearson, M. print, Welsby, J. print, Horsfield, I. print, Sewell, R. print and Dogramadzi, S. print (2011) Object localisation using active whiskers on underwater autonomous walking robot. In: Bidaud, P. print, Tokhi, M. O. print, Grande, C. print and Virk, G. S. print, eds. (2011) Field Robotics: Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. World Scientific Publishing Co., pp. 190-195. ISBN 9789814374279
Publisher's URL: http://www.worldscientific.com/worldscibooks/10.11...
A low-cost, biologically inspired underwater walking robot (see Fig. 1) has been designed and built to covertly explore the seabed and to determine properties of submerged objects in obscure and inaccessible underwater locations. This paper focuses on a preliminary evaluation of an artificial active whisker to instrument this platform. Results demonstrate that both range and bearing to objects contacted by the whisker can be determined using simple data driven heuristics.
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