Show simple item record

Biologically Inspired Navigational Strategies Using Atmospheric Scattering Patterns

dc.contributor.advisorHumbert, James Sen_US
dc.contributor.authorAshkanazy, Juliaen_US
dc.date.accessioned2015-06-25T05:54:01Z
dc.date.available2015-06-25T05:54:01Z
dc.date.issued2015en_US
dc.identifierhttps://doi.org/10.13016/M2CG99
dc.identifier.urihttp://hdl.handle.net/1903/16539
dc.description.abstractA source of accurate and reliable heading is vital for the navigation of autonomous systems such as micro-air vehicles (MAVs). It is desirous that a passive computationally efficient measure of heading is available even when magnetic heading is not. To confront this scenario, a biologically inspired methodology to determine heading based on atmospheric scattering patterns is proposed. A simplified model of the atmosphere is presented, and a hardware analog to the insect Dorsal Rim Area (DRA) photodetection is introduced. Several algorithms are developed to map the patterns of polarized and unpolarized celestial light to heading relative to the sun. Temporal information is used to determine current solar position, and then merged with solar relative heading resulting in absolute heading. Simulation and outdoor experimentation are used to validate the proposed heading determination methodology. Celestial heading measurements are shown to provide closed loop heading control of a ground based robot.en_US
dc.language.isoenen_US
dc.titleBiologically Inspired Navigational Strategies Using Atmospheric Scattering Patternsen_US
dc.typeThesisen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.contributor.departmentAerospace Engineeringen_US
dc.subject.pqcontrolledAerospace engineeringen_US
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pquncontrolledBio-inspired Navigationen_US
dc.subject.pquncontrolledCelestial Navigationen_US
dc.subject.pquncontrolledDorsal Rim Areaen_US
dc.subject.pquncontrolledInsect Visionen_US
dc.subject.pquncontrolledPolarization visionen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record