전기장 신호를 이용한 수중 로봇의 위치 추정

Abstract

We propose a method to localize underwater robots by using an underwater electric field sensor (EFS) that measures underwater electric field signals. The EFS is installed at an underwater robot and measured the three-dimensional electric field signals generated by an underwater electric landmark. The position of the underwater robot is predicted by comparing the measured electric field signals and the theoretical calculations at the same measurement conditions. The optimal position of the underwater robot was predicted by using the particle swarm optimization that minimized the difference between the measurements and the theoretical calculations. The proposed method was tested in computer simulations and the positions of the underwater robot could be predicted. The proposed method would be useful for underwater robots to serve various missions, such as underwater exploration and object detection.