Underwater robot sensing technology:A survey

作     者：Yang Cong Changjun Gua Tao Zhang Yajun Gao 

作者机构：The State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyang 110016China University of Chinese Academy of SciencesBeijing 100049China 

出 版 物：《Fundamental Research》 (自然科学基础研究（英文版）)

年 卷 期：2021年第1卷第3期

页      面：337-345页

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：This work is supported by the National Key Research and Development Program of China(2019YFB1310300) National Nature Science Foundation of China under Grant(61722311,61821005) 

主　　题：Underwater robot Underwater robot sensing Acoustic sensing Optical sensing Magnetic sensing Bionic sensing 

摘      要：Underwater robot technologies are crucial for marine resource exploration and autonomous manipulation,and many breakthroughs have been achieved with key indicators(e.g.,dive depth and navigation range).However,due to the complicated underwater environment,the state-of-the-art sensing technologies cannot handle all the needs of underwater *** improve the autonomous operating capacity of underwater robots,there is an urgent need to develop underwater sensing ***,in this paper,we first introduce the development of underwater robot *** then review some key sensing technologies such as underwater acoustic sensing,underwater optical sensing,underwater magnetic sensing,and underwater bionic ***,we point out the challenges of underwater sensing technology and future directions in addressing these challenges,e.g.,underwater bionic sensing,new underwater material development,multisource information fusion,and the construction of general test platforms.