Evaluation of Detection System for Bioinspired Spherical Underwater Robots Based on the Pressure Sensor Array

Due to the particularity and complexity of the underwater environment, the perception ability of Autonomous Underwater Vehicles (AUVs) has become a hot issue in recent years. In this paper, the detection system was developed for bioinspired Spherical Underwater Robots (SURs) based on the pressure sensor array. Firstly, the sensor array based on the SUR model was proposed using pressure sensors, adding new dimension to near-flow detection and perception method. Then, the detection system was constructed and the hydrodynamic pressure variables are analyzed. Next, the data acquisition of the pressure sensor array was described. Furthermore, the SUR prototype was assembled carrying the pressure sensor array. Finally, a series of locomotion experiments were performed to verify its performance. The experimental results validated the effectiveness of the proposed detection system, which had a certain reference value for AUV underwater detection and state estimation.