干旱区生态环境知识资源中心(Arid): An ant-inspired celestial compass applied to autonomous outdoor robot navigation

Arid

DOI	10.1016/j.robot.2019.04.007
	An ant-inspired celestial compass applied to autonomous outdoor robot navigation
	Dupeyroux, Julien; Viollet, Stephane; Serres, Julien R.
通讯作者	Serres, Julien R.
来源期刊	ROBOTICS AND AUTONOMOUS SYSTEMS
ISSN	0921-8890
EISSN	1872-793X
出版年	2019
卷号	117 页码:40-56
英文摘要	Desert ants use the polarization of skylight and a combination of stride and ventral optic flow integration processes to track the nest and food positions when traveling, achieving outstanding performances. Navigation sensors such as global positioning systems and inertial measurement units still have disadvantages such as their low resolution and drift. Taking our inspiration from ants, we developed a 2-pixel celestial compass which computes the heading angle of a mobile robot in the ultraviolet range. The output signals obtained with this optical compass were investigated under various weather and ultraviolet conditions and compared with those obtained on a magnetometer in the vicinity of our laboratory. After being embedded on-board the robot, the sensor was first used to compensate for random yaw disturbances. We then used the compass to keep the Hexabot robot's heading angle constant in a straight forward walking task over a flat terrain while its walking movements were imposing yaw disturbances. Experiments performed under various meteorological conditions showed the occurrence of steady state heading angle errors ranging from 0.3 degrees (with a clear sky) to 2.9 degrees (under changeable sky conditions). The compass was also tested under canopies and showed a strong ability to determine the robot's heading while most of the sky was hidden by the foliage. Lastly, a waterproof, mono-pixel version of the sensor was designed and successfully tested in a preliminary underwater benchmark test. These results suggest this new optical compass shows great precision and reliability in a wide range of outdoor conditions, which makes it highly suitable for autonomous robotic outdoor navigation tasks. A celestial compass and a minimalistic optic flow sensor called M(2)APix (based on Michaelis-Menten Auto-adaptive Pixels) were therefore embedded on-board our latest insectoid robot called AntBot, to complete the previously mentioned ant-like homing navigation processes. First the robot was displaced manually and made to return to its starting-point on the basis of its absolute knowledge of the coordinates of this point. Lastly, AntBot was tested in fully autonomous navigation experiments, in which it explored its environment and then returned to base using the same sensory modes as those on which desert ants rely. AntBot produced robust, precise localization performances with a homing error as small as 0.7% of the entire trajectory. (C) 2019 Elsevier B.V. All rights reserved.
英文关键词	Non-conventional vision Optic flow Hexapod Homing Odometry Multiple sensory fusion Bio-inspiration Biomimetics Bionics Biorobotics
类型	Article
语种	英语
国家	France
开放获取类型	Green Submitted
收录类别	SCI-E
WOS记录号	WOS:000469898500004
WOS关键词	LIGHT POLARIZATION DETECTION ; PATH-INTEGRATION ; DESERT ANTS ; SKYLIGHT POLARIZATION ; INSECT NAVIGATION ; STEPPING PATTERNS ; VISION ; NEURONS ; SENSOR ; MODEL
WOS类目	Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics
WOS研究方向	Automation & Control Systems ; Computer Science ; Robotics
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/218522
作者单位	Aix Marseille Univ, CNRS, ISM, Marseille, France
推荐引用方式 GB/T 7714	Dupeyroux, Julien,Viollet, Stephane,Serres, Julien R.. An ant-inspired celestial compass applied to autonomous outdoor robot navigation[J],2019,117:40-56.
APA	Dupeyroux, Julien,Viollet, Stephane,&Serres, Julien R..(2019).An ant-inspired celestial compass applied to autonomous outdoor robot navigation.ROBOTICS AND AUTONOMOUS SYSTEMS,117,40-56.
MLA	Dupeyroux, Julien,et al."An ant-inspired celestial compass applied to autonomous outdoor robot navigation".ROBOTICS AND AUTONOMOUS SYSTEMS 117(2019):40-56.