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Modélisation de l'électrolocation pour la bio-robotique

Abstract : The goal of the European project ANGELS is to build an eel-like robot capable to navigate by the electric sense and to divide itself in several mono-agents for exploration purposes. In the context of this project my work consisted in creating a perception model inspired from the electric fish with the virtue of being fast and so, to be usable in-line. Two models of perception were built and were based on a simple but realistic geometry of sensor. The two models named after the « poly-spherical model » and the « reflexions model » which come respectively from a physical intuition and an appropriate mathematical model are calibrated once for all with an electrical simulator in order to have analytical forms. Coupled with models of the electrical response of objects, the two models of perception permit the robot to achieve some basic tasks like detection and obstacles’ avoidance, which is a novelty in the history. In addition we have built a generic formalism of theelectrical response that extents the application of the models of perception. Finally we have begun to estimate the influence of a complex geometry of sensor, that exhibs large insulating surfaces, on the measurement in order to open the way for the rapid modelling of a sensor of arbitrary shape.
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Submitted on : Monday, September 24, 2012 - 3:42:12 PM
Last modification on : Thursday, November 17, 2022 - 4:48:10 PM
Long-term archiving on: : Tuesday, December 25, 2012 - 5:45:28 AM


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  • HAL Id : tel-00734819, version 1


Brahim Jawad. Modélisation de l'électrolocation pour la bio-robotique. Robotique [cs.RO]. Ecole des Mines de Nantes, 2012. Français. ⟨NNT : 2012EMNA0010⟩. ⟨tel-00734819⟩



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