Acoustic Flow-Based Control of a Mobile Platform Using a 3D Sonar Sensor

Moving a sensor through its environment creates signature time variations of the sensor's readings often referred to as flow cues. We analyze the acoustic flow field generated by a sonar sensor, capable of imaging the full frontal hemisphere, mounted on a mobile platform. We show how the cues derived from this acoustic flow field can be used directly in a layered control strategy, which supports a...