Abstract
The aim of this work is to take advantage of the perceived properties of fishing bats. An in‐air biosonar system on a mobile robot is presented for the detection and classification of tiny movements under the water surface. Detecting and classifying underwater turbulence with in‐air biosonar system allows mobile agent to sense underwater movement without dipping transducers into water. In this work, both fishes—4‐cm long goldfish—and waterproof motors (3‐W power, 2‐cm diameter) are used as sources to generate underwater turbulence. According to real‐time feedback results from digital signal processing, the in‐air biosonar system on an autocontrolled robot scans water surface with task oriented chirps and sensing strategies. Fishes and motors can be detected and classified in time and frequency domain with a high percentage rate. Experimental result indicates that a mobile robot with in‐air biosonar system can achieve the ability of underwater movement detection and classification. However, a precise localization depends heavily on the selection of sensing strategy. [Work supported by NSFC.]
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