Active underwater electrolocation method with PSO-based adaptive threshold estimation.

IF 3.1 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY
Lv Luting, Ma Teng, Quan Jingyi, Fan Jiajia, Li Ye
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引用次数: 0

Abstract

Target detection and localization are essential capabilities for underwater vehicles to perceive and understand the underwater environment. In turbid, dark and semi-enclosed waters, such as underwater caves, acoustic and optical sensing devices face serious problems of reverberation and attenuation of the detection range, respectively. Weakly electric fish use their electric organ in the tail to produce repetitive discharges, while their electric receptors in the head and trunk detect electrical signals. This enables them to locate targets, avoid predators and facilitate hunting. In this paper, a bio-inspired active underwater electrolocation method is proposed, in which an adaptive contour-ring based target localization method is applied to provide both robust and accurate localization results for vehicles. In particular, on the basis of the efficient generation of prior contour-ring maps with high confidence and high precision, a particle swarm optimization theory-based adaptive threshold estimation algorithm was proposed to overcome the problem of non-uniqueness in the traditional contour ring-based method, while an electrode array pattern that integrates positioning accuracy and number of electrodes is proposed. Tank experiments have demonstrated the positioning accuracy of the proposed method.

基于粒子群自适应阈值估计的主动水下电定位方法。
目标检测和定位是水下航行器感知和理解水下环境的基本能力。在浑浊、黑暗和半封闭的水域中,如水下洞穴,声光传感设备分别面临着严重的混响和探测距离衰减问题。弱电鱼使用它们尾巴上的电器官来产生重复的放电,而它们头部和躯干上的电感受器则检测电信号。这使它们能够定位目标,避开捕食者并便于捕猎。提出了一种仿生水下主动电定位方法,该方法采用一种基于自适应轮廓环的目标定位方法,为车辆提供鲁棒性和准确性的定位结果。特别是在高效生成高置信度、高精度先验等高线环图的基础上,提出了一种基于粒子群优化理论的自适应阈值估计算法,克服了传统等高线环方法的非唯一性问题,并提出了一种集定位精度和电极数于一体的电极阵列模式。坦克实验证明了该方法的定位精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Bioinspiration & Biomimetics
Bioinspiration & Biomimetics 工程技术-材料科学:生物材料
CiteScore
5.90
自引率
14.70%
发文量
132
审稿时长
3 months
期刊介绍: Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.
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