Robust analysis of an underwater navigational strategy in electrically heterogeneous corridors.

Abstract

Obstacles and other global stimuli provide relevant navigational cues to a weakly electric fish. In this work, robust analysis of a control strategy based on electrolocation for performing obstacle avoidance in electrically heterogeneous corridors is presented and validated. Static output feedback control is shown to achieve the desired goal of reflexive obstacle avoidance in such environments in simulation and experimentation. The proposed approach is computationally inexpensive and readily implementable on a small scale underwater vehicle, making underwater autonomous navigation feasible in real-time.

DOI: 10.1088/1748-3190/11/4/045004

Cite this paper

@article{Dimble2016RobustAO, title={Robust analysis of an underwater navigational strategy in electrically heterogeneous corridors.}, author={Kedar D. Dimble and Badri Ranganathan and Jishnu Keshavan and James Sean Humbert}, journal={Bioinspiration & biomimetics}, year={2016}, volume={11 4}, pages={045004} }