DOI: 10.1615/TSFP5
TRAIL FOLLOWING OF TURBULENT WAKE USING ARTIFICIAL LATERAL LINE
RESUMO
Inspired by the unique flow imaging capability of fish lateral lines, we configured an artificial lateral line (ALL) in fish contour, and conducted biomimetic study on trail following of a hydrodynamic wake. The ALL consisted of 13 hot-film anemometers, and was integrated with a 3- degree of freedom robotic arm for movement in a 2-D plane. A circular cylinder was exposed in a water channel to generate the wake. Trail-following algorithm was developed based on wake characterization both numerically and experimentally, and was further optimized through applications of the ALL. We demonstrate that the robotic ALL can follow a wake successfully in various scenarios. Such efforts will lead to safer autonomous navigation of underwater vehicles in complex aquatic environment.