Sunflower: locating underwater robots from the air
Sunflower: locating underwater robots from the air
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DOI：
10.1145/3498361.3539773
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发表时间：
2022-06
期刊：
影响因子：
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通讯作者：
Charles J. Carver;Qijia Shao;Samuel Lensgraf;A. Sniffen;Maxine Perroni-Scharf;Hunter Gallant;Alberto Quattrini Li;Xia Zhou
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文献类型：
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作者：
Charles J. Carver;Qijia Shao;Samuel Lensgraf;A. Sniffen;Maxine Perroni-Scharf;Hunter Gallant;Alberto Quattrini Li;Xia Zhou
定位水下机器人是实现重要水下应用的基础。目前的主流方法需要在水面上有继电器的物理基础设施，这在很大程度上是临时的，引入了大量的后勤开销，并且可扩展性有限。我们的工作，向日葵，展示了第一个跨空气-水界面的无线3D定位-消除了对水面上额外基础设施的需要。具体地说，我们提出了一种基于激光的传感系统，使无人机能够直接定位水下机器人。向日葵系统分别由无人机上的女王和工人组件以及每个履带式水下机器人组成。为了实现稳健的传感，系统的关键部件包括：(1)基于针孔的传感机构，用于解决空气-水边界处的传感偏斜并确定工人的入射角度；(2)新型光纤传感环，用于传感微弱的后向反射光；(3)激光优化的后向散射通信设计，其利用激光偏振来最大化后向反射能量；以及(4)水下传感所需的模型和算法。真实世界的实验表明，我们的向日葵系统在3.8m的距离内平均定位误差为9.7 cm，并且对环境光干扰和波动条件具有很强的鲁棒性。
Locating underwater robots is fundamental for enabling important underwater applications. The current mainstream method requires a physical infrastructure with relays on the water surface, which is largely ad-hoc, introduces a significant logistical overhead, and entails limited scalability. Our work, Sunflower, presents the first demonstration of wireless, 3D localization across the air-water interface - eliminating the need for additional infrastructure on the water surface. Specifically, we propose a laser-based sensing system to enable aerial drones to directly locate underwater robots. The Sunflower system consists of a queen and a worker component on a drone and each tracked underwater robot, respectively. To achieve robust sensing, key system elements include (1) a pinhole-based sensing mechanism to address the sensing skew at air-water boundary and determine the incident angle on the worker, (2) a novel optical-fiber sensing ring to sense weak retroreflected light, (3) a laser-optimized backscatter communication design that exploits laser polarization to maximize retroreflected energy, and (4) the necessary models and algorithms for underwater sensing. Real-world experiments demonstrate that our Sunflower system achieves average localization error of 9.7 cm with ranges up to 3.8 m and is robust against ambient light interference and wave conditions.