Electric Field Based Obstacle Avoidance

Girija Chetty, Andrew Russell

Research output: A Conference proceeding or a Chapter in BookConference contribution

Abstract

The uses of autonomous underwater vehicles have increased in the last few years due to the need to perform operations in deeper and riskier areas where human divers cannot reach. Conventional sonar and vision based obstacle avoidance and real time guidance becomes difficult and somewhat inconclusive in the deep oceanic environment. A great variety of marine animals including some species of electric fish have been found to avoid obstacles and navigate, with the help of electric sensors located on the skin on the anterior part of their body. This paper reports details of a real time obstacle avoidance system developed for a submersible based on electric field sensing. Some initial results are also presented.
Original languageEnglish
Title of host publicationField and Service Robotics
EditorsAlexander Zelinsky
Place of PublicationLondon, UK
PublisherSpringer
Pages364-368
Number of pages5
ISBN (Electronic)9781447112730
ISBN (Print)9781447112754
DOIs
Publication statusPublished - 1998
Externally publishedYes

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Chetty, G., & Russell, A. (1998). Electric Field Based Obstacle Avoidance. In A. Zelinsky (Ed.), Field and Service Robotics (pp. 364-368). London, UK: Springer. https://doi.org/10.1007/978-1-4471-1273-0_55