Underwater robot navigation around a sphere using electrolocation sense and Kalman filter

The aim of this paper is to perform the navigation of an underwater robot equipped with a sensor using the electric sense. The robot navigates in an unbounded environment in presence of spheres. This sensor is inspired of some species of electric fish. A model of this sensor composed of n spherical electrodes is established. The variations of the current due to the presence of the sphere is related to the model of Rasnow. Unscented Kalman Filter is used to localize the robot with respect to the sphere and to estimate the size of the sphere. We show that bio-inspired motions improve the detection of the spheres. We illustrate the efficiency of the method in two cases: a two electrodes sensor and a four electrodes sensor.