IEEE Robotics & Automation Magazine - December 2022 - 52

Specifically, we propose an electric sense-based localization
scheme, including a hardware solution and model-based
perception methods. First, the hardware solution is composed
of an ac-based electric receiver implemented on a robot and
ac-based electric emitters fixed on the seabed (Figure 2). The
robot uses the measurements of its receiver to estimate its relative
position and orientation to the emitters on the seabed.
Second, to enable localization in a large-scale environment,
we construct a distributed electric-emitter architecture
(Figure 3). Because an ac signal is used for localization, multiple
emitters can work together without interfering with
each other using frequency-division multiplexing. Then, to
explore the contributing factors of localization, we design
three localization methods by selectively fusing the dynamic
model, inertial measurement unit (IMU), and electric sensebased
measurements (Figure 4). Finally, to fully verify our
proposed localization scheme, we conduct four types of
localization experiments in different scenarios, including the
Figure 1. A concept map depicting our biomimetic electric sense-based localization framework applied to different kinds of
underwater robots in the sea. The emitters are fixed on the seabed, while the receivers are equipped on the robots.
Channel 1
DDS (f2)
f2
V01
DDS (f1)
f1
Pool
V04
Electric Emitters
Emitter
Circuit
Input
Receiver
Circuit
Circuit Object
High-Pass
Second-Order
Chebyshev
Low-Pass
Fourth-Order
Butterworth
Low-Pass
Second-Order
Chebyshev
High-Pass
Second-Order
Chebyshev
Bandpass Filter
Figure 2. The hardware solution to the underwater electric sense, including the electric emitter and the electric receiver. DDS: direct
digital synthesizer; FFT: fast Fourier transform.
52 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2022
Dynamic
Gain
Output
Electric Receiver
V03
V02
Channel 2
Channel 3
V1,t-1
V1,t-n
V1,t
V2
V3
V1
FFT
FFT
FFT
V1, f2
V1, f1
V2, f1
V2, f2
V3, f1
V3, f2
Raspberry Pi

IEEE Robotics & Automation Magazine - December 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2022

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