Research on Target Localization Method for Underwater Robot Based on the Bionic Lateral Line System of Fish.

Abstract

This paper is based on the fish lateral line sensing mechanism and aims to determine the coupling relationship between the flow field sensing signal and target source position information. Firstly, according to the flow field distribution characteristics of the target source, the equivalent multipole model of the flow field disturbance during the underwater motion of the SUBOFF model is constructed, and then the target localization function based on the least squares method is established according to the theory of potential flow, and the residual function of the target localization is solved optimally using the quasi-Newton method (QN) to obtain the estimated position of the target source. On this basis, a curved bionic lateral line sensing array is constructed on the surface of a robotic fish, and the estimated location of the target source is obtained. The curvilinear bionic lateral line sensing array is constructed on the surface of the robotic fish, and the effectiveness and robustness of the above localization methods are analysed to validate whether the fish lateral line uses the pressure change to sense the underwater target.