A Low-cost Robot Using Omni-directional Vision Enables Insect-like Behaviors

被引：0
|
作者：
Hari, Charles [1 ]
Kreinar, E. J. [1 ]
Chrzanowski, David [2 ]
Daltorio, Kathryn A. [2 ]
Quinn, Roger D. [2 ]
机构：
[1] Case Western Reserve Univ, Elect Engn & Comp Sci, 10900 Euclid Ave, Cleveland, OH 44106 USA
[2] Case Western Reserve Univ, Mech & Aerosp Engn, Cleveland, OH 44106 USA
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2015年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
RAMBLER Robot is designed for researching insect inspired behavioral control algorithms. To evaluate these algorithms, RAMBLER Robot needs autonomous localization without typical sensors like wheel odometers or GPS. The primary objective of this work is to independently, accurately, and robustly recover the path of a moving robotic system with low-cost sensors available off-the-shelf. The computationally efficient power center method of triangulation is compared to a particle filter approach. With three passive indistinguishable landmarks at corners of a small arena, RAMBLER Robot successfully localizes with an RMS error of 2.27cm compared to an overhead camera ground truth.
引用
收藏
页码：5871 / 5878
页数：8
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