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Fifth International Symposium on Turbulence and Shear Flow Phenomena
August, 27-29, 2007, Technische Universität München, Munich, Germany

DOI: 10.1615/TSFP5

TRAIL FOLLOWING OF TURBULENT WAKE USING ARTIFICIAL LATERAL LINE

pages 613-617
DOI: 10.1615/TSFP5.950
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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.

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