The distances measurement problem for an underwater robotic swarm: a semi-experimental trial, using power LEDs, in unknown sea water conditions
Résumé
An underwater swarm has the important task to know its geometric configuration; this can be computed from the knowledge of the relative distances between its elements and it is studied as a geometry distances problem. Typically, the distances are measured by ultrasonic devices but we want to propose a method based on light signal exchanged between the machines and the use of the unknown water adsorption coefficient. Aim of this paper is therefore to measure distance between underwater elements of the swarm using cheap power LEDs as light source and photodiode as receiver. The receiving photodiode produces a current we can correlate with distance and water adsorption coefficient; we can resolve the two unknown parameters by moving the robots and stressing the emission conditions of the LED diode. In a previous paper we have stressed work conditions of a power LED that we are using as optical modem in shallow water to change its emission characteristics; now, using these results, we can now perform a set of measurements leading to the knowledge of distances and adsorption coefficient a(λ). The method we propose here can be a possible support to traditional ultrasonic devices
Domaines
Robotique [cs.RO]
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D25The distances measurement problem for an underwater.pdf (714.81 Ko)
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