TY - GEN
T1 - Speed estimation for robotic fish using onboard artificial lateral line and inertial measurement unit
AU - Wang, Chengcai
AU - Wang, Wei
AU - Xie, Guangming
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - Many species of fish use the lateral line for underwater information extraction. In spite of the extensive work on artificial lateral line (ALL) and inertial measurement unit (IMU), the ALL and IMU are rarely used together to estimate the speed of robotic fish. Here we show that an artificial lateral line and an inertial measurement unit can be used cooperatively to estimate the speed of a swimming robotic fish. Based on the analysis of the robotic fish, we use an optimal information fusion decentralized filter algorithm to efficiently fuse the information of ALL and IMU for speed estimation. Our robotic fish has an artificial lateral line consisting of 11 pressure sensors and an inertial measurement unit. Experiments conducted with the freely swimming robotic fish demonstrate that the proposed scheme is able to efficiently estimate the robot speed with small errors in real time.
AB - Many species of fish use the lateral line for underwater information extraction. In spite of the extensive work on artificial lateral line (ALL) and inertial measurement unit (IMU), the ALL and IMU are rarely used together to estimate the speed of robotic fish. Here we show that an artificial lateral line and an inertial measurement unit can be used cooperatively to estimate the speed of a swimming robotic fish. Based on the analysis of the robotic fish, we use an optimal information fusion decentralized filter algorithm to efficiently fuse the information of ALL and IMU for speed estimation. Our robotic fish has an artificial lateral line consisting of 11 pressure sensors and an inertial measurement unit. Experiments conducted with the freely swimming robotic fish demonstrate that the proposed scheme is able to efficiently estimate the robot speed with small errors in real time.
UR - https://www.scopus.com/pages/publications/84964526812
U2 - 10.1109/ROBIO.2015.7418781
DO - 10.1109/ROBIO.2015.7418781
M3 - 会议稿件
AN - SCOPUS:84964526812
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 285
EP - 290
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -