The development of a bio-inspired magnetoelectrosensory navigation system

Many aquatic creatures transduce magnetic and electric fields for navigation cues and feedback control. Such sensing capabilities would greatly advance AUV technology. We will continue the co-design of sensing and motion capabilities along with empowering algorithms for underwater perception and navigation. We have made significant advancements in active electrosense and inductive-magnetosense in Phase I, and we will continue to improve its capabilities by employing low-noise digital electronics. We will also investigate the imaging of nearby spatial electrical impedance using a new architecture of active electrosense. We will develop new algorithms for exploration, feature classification, and navigation without a sensor map. The new hardware and algorithms will be demonstrated on a 6 degree-of-freedom fully-automated gantry. Stereotyped motions emerging from the exploration algorithms in the gantry test bed will give insight to desirable motion capabilities for an AUV with electrosense. Evolution suggests that the propulsion system of the weakly electric fish be an excellent complement to electrosense. Thus, we will build and test a robot with a ventral ribbon fin and pectoral dive planes—similar to the propulsion system of weakly electric fish—with an integrated electrosensory system for closed-loop control.