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Saif_Alsaif_Dissertation.pdf (10.47 MB)

ETD Abstract Container

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Echoic Flow for Guidance and Control

Alsaif, Saif A
http://rave.ohiolink.edu/etdc/view?acc_num=osu1543864969419357

Abstract Details

2019, Doctor of Philosophy, Ohio State University, Electrical and Computer Engineering.
Flow fields naturally measure the time to contact (TTC) between two objects, and are symbolized by the parameter tau. Hence, the term echoic flow (EF) represents the use of flow fields in active sensing systems, like radar and sonar. In this research, I present a key demonstration using echoic flow to guide a robotic vehicle autonomously around an unfamiliar path. Will briefly introduce the main concepts that explains echoic flow and describe how echoic flow can be used as a bio inspired guidance system. Several experiments with a robotic vehicle shown capable of traversing a square corridor with one of the sides containing a series of obstacles. Echoic flow aided radar will also be shown capable of enabling a robotic vehicle to successfully traverse apertures. The bio inspired radar proposed relies on a perception-action cycle in which echoic flow is the perception, and steering instructions are the actions. A series of experiments using a robotic vehicle equipped with acoustic radar are presented to show that the echoic flow aided radar system is capable of traversing apertures in numerous situations. Conventional methods for target following and approach involve complicated computing and re-computing of target position with respect to radar and lead to excessive processing. However, echoic flow based radar has been shown capable of achieving guidance and navigation with simple processing in both simulated and experimental studies. In the presented research, the use of the derivate of the echoic flow parameter “tau-dot” in bio inspired radar for target following and approach control applications will be examined. After a brief introduction of the echoic flow derivative, three target movement scenarios are presented: stationary target; target moving slower than radar platform and target moving faster than radar platform are analyzed using both simulations and experiments. In all scenarios, the radar platform was able to close both range and velocity gaps with respect to the target successfully at the same time, regardless of the small variation in range and velocity measurements. Also, the effect of range and range rate measurement accuracy on echoic flow is discussed and methods to achieve suitable levels of accuracy presented. Finally, the path traveled by the echoic flow aided acoustic radar testbed when moving in a straight corridor with multiple environmental sets were shown to trail the paths of an echolocating bat. Which largely indicates the connection between echoic flow as a guidance approach and the use of echolocation in bats.
Graeme Smith (Advisor)
Fernando Teixeira (Committee Member)
Keith Redmill (Committee Member)
211 p.
Electrical Engineering

Recommended Citations

Citations

  • Alsaif, S. A. (2019). Echoic Flow for Guidance and Control [Doctoral dissertation, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1543864969419357

    APA Style (7th edition)

  • Alsaif, Saif. Echoic Flow for Guidance and Control. 2019. Ohio State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1543864969419357.

    MLA Style (8th edition)

  • Alsaif, Saif. "Echoic Flow for Guidance and Control." Doctoral dissertation, Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1543864969419357

    Chicago Manual of Style (17th edition)

osu1543864969419357
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This open access ETD is published by The Ohio State University and OhioLINK.