Journal of Bionic Engineering

Volume 14, Issue 4, October 2017, Pages 759-769
 

Jiegang Peng, Yue Zhu, Tao Yong

School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu 611731, China

Abstract  Weakly electric fish has an ability to generate a low-frequency electric field actively to locate the surrounding object in complete darkness by sensing the change of the electric field. This ability is called active electrolocation. In this paper, we designed a two-dimensional (2D) experimental platform of underwater active electrolocation system by simulating weakly electric fish. On the platform, location characteristics based on frequency domain were investigated. Results indicated that surface shape of 3D location characteristic curves for the 2D underwater active electrolocation positioning system was convex upwards or concave down which was influenced by the material of probed objects and the frequency of the electric field exci-tation signal. Experiments also confirmed that the amplitude of the electric field excitation signal and the size of the probed object will only influence the amplitude corresponding to 3D location characteristic curves. Based on above location charac-teristics, we present three location algorithms including Cross Location Algorithm (CLA), Stochastic Location Algorithm (SLA) and Particle Swarm Optimization (PSO) location algorithm in frequency domain and achieved the task of the underwater positioning system. Our work may have reference value for underwater detection study.

Key words：  underwater active electrolocation      location characteristics      location algorithms      frequency domain      bionics   

Full text is available at http://www.sciencedirect.com/science/article/pii/S1672652916604419