Localization of a moving dipole source underwater using an artificial lateral line

Ahmad T. Abdulsadda; Xiaobo Tan

doi:10.1117/12.916440

4 April 2012 Localization of a moving dipole source underwater using an artificial lateral line

Ahmad T. Abdulsadda, Xiaobo Tan

Proceedings Volume 8339, Bioinspiration, Biomimetics, and Bioreplication 2012; 833909 (2012) https://doi.org/10.1117/12.916440
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2012, San Diego, California, United States

Abstract

Motivated by the lateral line system of fish, arrays of flow sensors have been proposed as a new sensing modality for underwater robots. Existing studies on such artificial lateral lines (ALLs) have been mostly focused on the localization of a fixed underwater vibrating sphere (dipole source). In this paper we examine the problem of tracking a moving dipole source using an ALL system. A nonlinear estimation problem is formulated based on an analytical model for the moving dipole-generated flow field, which is subsequently solved with the Gauss-Newton method. The effectiveness of the proposed approach is illustrated with simulation results.

Citation Download Citation

Ahmad T. Abdulsadda and Xiaobo Tan "Localization of a moving dipole source underwater using an artificial lateral line", Proc. SPIE 8339, Bioinspiration, Biomimetics, and Bioreplication 2012, 833909 (4 April 2012); https://doi.org/10.1117/12.916440

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