The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Measurement of Moving Object Velocity and Angle in a Quasi-Static Underwater Environment Through Simulation Data and Spherical Convolution

시뮬레이션 데이터와 Spherical Convolution을 통한 준 정적인 수중환경에서의 이동체 속도 및 각도 측정

  • Baegeun Yoon (Seoul National University of Science and Technology) ;
  • Jinhyun Kim (Seoul National University of Science and Technology)
  • Received : 2022.10.31
  • Accepted : 2022.11.11
  • Published : 2023.02.28
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Abstract

In general, in order to operate an autonomous underwater vehicle (AUV) in an underwater environment, a navigation system such as a Doppler Log (DVL) using a Doppler phenomenon of ultrasonic waves is used for speed and direction estimation. However, most of the ultrasonic sensors in underwater is large for long-distance sensing and the cost is very high. In this study, not only canal neuromast on the fish's lateral lines but also superficial neuromast are studied on the simulation to obtain pressure values for each pressure sensor, and the obtained pressure data is supervised using spherical CNN. To this end, through supervised learning using pressure data obtained from a pressure sensor attached to an underwater vehicle, we can estimate the speed and angle of the underwater vehicle in a quasi-static underwater environment and propose a method for a non-ultrasonic based navigation system.

Keywords

Acknowledgement

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT). (No. 2022R1A2C2010101)

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