Download: PDF.
“Acoustic Localization and Communication Using a MEMS Microphone for Low-cost and Low-power Bio-inspired Underwater Robots” by A. Hinduja, Y. Ohm, J. Liao, C. Majidi, and M. Kaess. In Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Kyoto, Japan), Oct. 2022.
Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental visibility that makes camera-based methods ineffective. Popular inertial navigation methods for underwater localization using Doppler-velocity log sensors, sonar, high-end inertial navigation systems, or acoustic positioning systems require bulky expensive hardware which are incompatible with low-cost, bio-inspired underwater robots. In this paper, we introduce an approach for underwater robot localization inspired by GPS methods known as acoustic pseudoranging. Our method allows us to localize multiple bio-inspired robots equipped with commonly available micro electro-mechanical systems microphones. This is achieved through estimating the time difference of arrival of acoustic signals sent simultaneously through four speakers with a known constellation geometry. We also leverage the same acoustic framework to perform one-way communication with multiple robots to execute some primitive motions. To our knowledge, this is the first application for the localization of small bio-inspired robots in water.
Download: PDF.
BibTeX entry:
@inproceedings{Hinduja22iros,
author = {A. Hinduja and Y. Ohm and J. Liao and C. Majidi and M. Kaess},
title = {Acoustic Localization and Communication Using a {MEMS}
Microphone for Low-cost and Low-power Bio-inspired Underwater
Robots},
booktitle = {Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and
Systems, IROS},
address = {Kyoto, Japan},
month = oct,
year = {2022}
}