Collision recognition and direction changes for small scale fish robots by acceleration sensors

Seung Y. Na; Daejung Shin; Jin Y. Kim; Bae-Ho Lee

doi:10.1117/12.603266

27 May 2005 Collision recognition and direction changes for small scale fish robots by acceleration sensors

Seung Y. Na, Daejung Shin, Jin Y. Kim, Bae-Ho Lee

Proceedings Volume 5804, Unmanned Ground Vehicle Technology VII; (2005) https://doi.org/10.1117/12.603266
Event: Defense and Security, 2005, Orlando, Florida, United States

Abstract

Typical obstacles are walls, rocks, water plants and other nearby robots for a group of small scale fish robots and submersibles that have been constructed in our lab. Sonar sensors are not employed to make the robot structure simple enough. All of circuits, sensors and processor cards are contained in a box of 9 x 7 x 4 cm dimension except motors, fins and external covers. Therefore, image processing results are applied to avoid collisions. However, it is useful only when the obstacles are located far enough to give images processing time for detecting them. Otherwise, acceleration sensors are used to detect collision immediately after it happens. Two of 2-axes acceleration sensors are employed to measure the three components of collision angles, collision magnitudes, and the angles of robot propulsion. These data are integrated to calculate the amount of propulsion direction change. The angle of a collision incident upon an obstacle is the fundamental value to obtain a direction change needed to design a following path. But there is a significant amount of noise due to a caudal fin motor. Because caudal fin provides the main propulsion for a fish robot, there is a periodic swinging noise at the head of a robot. This noise provides a random acceleration effect on the measured acceleration data at the collision. We propose an algorithm which shows that the MEMS-type accelerometers are very effective to provide information for direction changes in spite of the intrinsic noise after the small scale fish robots have made obstacle collision.

Citation Download Citation

Seung Y. Na, Daejung Shin, Jin Y. Kim, and Bae-Ho Lee "Collision recognition and direction changes for small scale fish robots by acceleration sensors", Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); https://doi.org/10.1117/12.603266

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