干旱区生态环境知识资源中心(Arid): AntBot: A six-legged walking robot able to home like desert ants in outdoor environments

Arid

DOI	10.1126/scirobotics.aau0307
	AntBot: A six-legged walking robot able to home like desert ants in outdoor environments
	Dupeyroux, Julien; Serres, Julien R.; Viollet, Stephane
通讯作者	Viollet, Stephane
来源期刊	SCIENCE ROBOTICS
ISSN	2470-9476
出版年	2019
卷号	4 期号:27
英文摘要	Autonomous outdoor navigation requires reliable multisensory fusion strategies. Desert ants travel widely every day, showing unrivaled navigation performance using only a few thousand neurons. In the desert, pheromones are instantly destroyed by the extreme heat. To navigate safely in this hostile environment, desert ants assess their heading from the polarized pattern of skylight and judge the distance traveled based on both a stride-counting method and the optic flow, i.e., the rate at which the ground moves across the eye. This process is called path integration (PI). Although many methods of endowing mobile robots with outdoor localization have been developed recently, most of them are still prone to considerable drift and uncertainty. We tested several ant-inspired solutions to outdoor homing navigation problems on a legged robot using two optical sensors equipped with just 14 pixels, two of which were dedicated to an insect-inspired compass sensitive to ultraviolet light. When combined with two rotating polarized filters, this compass was equivalent to two costly arrays composed of 374 photosensors, each of which was tuned to a specific polarization angle. The other 12 pixels were dedicated to optic flow measurements. Results show that our ant-inspired methods of navigation give precise performances. The mean homing error recorded during the overall trajectory was as small as 0.67% under lighting conditions similar to those encountered by ants. These findings show that ant-inspired PI strategies can be used to complement classical techniques with a high level of robustness and efficiency.
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:000458561900001
WOS关键词	POLARIZED SKYLIGHT ; PATH-INTEGRATION ; OPTIC FLOW ; NAVIGATION ; ODOMETRY ; PATTERNS ; INSECTS ; SKY ; ORIENTATION ; HONEYBEES
WOS类目	Robotics
WOS研究方向	Robotics
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/218722
作者单位	Aix Marseille Univ, ISM, CNRS, Marseille, France
推荐引用方式 GB/T 7714	Dupeyroux, Julien,Serres, Julien R.,Viollet, Stephane. AntBot: A six-legged walking robot able to home like desert ants in outdoor environments[J],2019,4(27).
APA	Dupeyroux, Julien,Serres, Julien R.,&Viollet, Stephane.(2019).AntBot: A six-legged walking robot able to home like desert ants in outdoor environments.SCIENCE ROBOTICS,4(27).
MLA	Dupeyroux, Julien,et al."AntBot: A six-legged walking robot able to home like desert ants in outdoor environments".SCIENCE ROBOTICS 4.27(2019).