摘要：In this paper, we discuss a range sensor model using EM wave attenuation for localizing in an underwater environment with obstacles. Because an acoustic sensor is unsuitable for environment with obstacles due to the multi-path effect and diffraction, we propose a alternative range estimation method using EM wave attenuation. By considering the penetration distortion effect with underwater distance-signal attenuation model, we defined a robust EM wave attenuation function in the environment with obstacles. We performed the several experiments in order to determine the calibration factors according to the material, and the obstacle model is developed. Also, we obtained a robust localization results using the obtained sensor model with obstacle penetration effects.
