Object localisation using active whiskers on underwater autonomous walking robot

摘要

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 toudobjects contacted by the whisker can be determined using simple data driven heuristics.