METHOD AND DEVICE TO CONTROL THE MOVEMENT OF A MOBILE SYSTEM IN AN ELECTRICALLY CONDUCTIVE MEDIUM

摘要

This device makes it possible to control the movement of a mobile system in an electrically conductive medium, said system comprising at least one electrode (En) in contact with said medium. It comprises: - means of measuring an electrical characteristic of said medium by this electrode, referred to as the receiving electrode; and - means of determining a movement command (V, ?) for the mobile system using a feedback law calculated directly from this electrical characteristic.