Eavesdropping like a bat: Towards fusing active and passive sonar for a case study in simultaneous localization and mapping
Eavesdropping like a bat: Towards fusing active and passive sonar for a case study in simultaneous localization and mapping
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DOI：
10.1049/rsn2.12093
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发表时间：
2021-05
期刊：
影响因子：
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通讯作者：
Masoud Jahromi Shirazi;N. Abaid
中科院分区：
文献类型：
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作者：
Masoud Jahromi Shirazi;N. Abaid
国家科学基金会美国，资助/奖励编号：1751498;未分配摘要在使用自生信号的所谓主动传感器中，声纳传感器比激光雷达和雷达更难实现，部分原因是它们的感测角域有限。针对这一挑战的一种常见解决方案是扫描传感器，该扫描传感器通过连续测量来扫描角度范围。然而，由于相对较慢的声速和声纳头的惯性，扫描传感器对于声纳来说特别成问题。对蝙蝠行为的研究表明，蝙蝠在集体飞行时可能会偷听同类的谈话。换句话说，它们将自己的主动声纳收集的信息与被动倾听同伴的信息融合在一起。由于蝙蝠在使用声纳方面非常熟练，这种行为激发了一项调查，即融合主动和被动声纳是否可以解决实施声纳传感器的挑战。定义了一种融合传感模型，并在同时定位与地图构建（SLAM）的试验床问题上进行了数值仿真。仿真结果表明，当主动声纳的角度范围和相关噪声相对较小时，机器人解决SLAM的性能有所提高。
National Science Foundation; United States, Grant/ Award Number: 1751498; Unassigned Abstract Among so‐called active sensors that use self‐generated signals, sonar sensors are more challenging to implement than lidar and radar due in part to their limited angular field of sensing. A common solution to this challenge is scanning sensors that sweep an angular range with successive measurements. However, scanning sensors are particularly problematic for sonar because of the relatively slow sound speed and the inertia of the sonar head. Studies of bat behaviour suggest that bats may eavesdrop on their conspecifics during group flight. In other words, they fuse information gathered by their own active sonar with information they receive by passively listening to peers. Because bats are extremely skilled in using sonar, this behaviour inspired an investigation into whether fusing active and passive sonar can be a solution to the challenges of implementing sonar sensors. A model of fused sensing is defined, and a numerical simulation is used to answer this question on the test bed problem of simultaneous localization and mapping (SLAM). The simulation results show that when the angular range of active sonar and associated noise is relatively small, the robot's performance in solving SLAM is improved.