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Underwater navigation behaviors using Wide-Field Integration methods | IEEE Conference Publication | IEEE Xplore

Underwater navigation behaviors using Wide-Field Integration methods


Abstract:

Potential flow theory is used to derive velocity magnitude information for a) inclined flow past a stationary cylinder, b) moving cylinder inside a tunnel and c) moving c...Show More

Abstract:

Potential flow theory is used to derive velocity magnitude information for a) inclined flow past a stationary cylinder, b) moving cylinder inside a tunnel and c) moving cylinder inside a circular arena. Wide-Field Integration methods which are bioinspired techniques are used to extract relative states from the velocity magnitude signals for the above three situations. A linear controller using these relative states has been simulated to produce rheotaxis, wide-field obstacle avoidance, centering and wall following behavior. The approach is extended to a viscous inclined flow over an airfoil using an off-the-shelf CFD package where rheotaxis is again demonstrated using the same controller.
Date of Conference: 06-10 May 2013
Date Added to IEEE Xplore: 17 October 2013
ISBN Information:
Print ISSN: 1050-4729
Conference Location: Karlsruhe, Germany

References

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