Bat-Inspired Robot Navigation
| dc.contributor.advisor | Horiuchi, Timothy K. | |
| dc.contributor.advisor | Krishnaprasad, P. S. | |
| dc.contributor.author | Kuhlman, Michael Joseph | |
| dc.contributor.author | McRoberts, Kate | |
| dc.date.accessioned | 2017-10-12T18:57:36Z | |
| dc.date.available | 2017-10-12T18:57:36Z | |
| dc.date.issued | 2009-08 | |
| dc.description.abstract | A key objective of Robotics is the autonomous navigation of mobile robots through an obstacle field. Inspired by echolocating bats, we developed a two-part navigation system consisting of obstacle detection through echolocation and motion planning. The first part relies upon a binaural sonar system, which emits ultrasonic pulses and then determines the interaural level difference (ILD) of the returning echoes to infer obstacle locations. Next, the Openspace motion planner computes the best direction of travel based on the locations of the target and the detected obstacles. We implemented this navigation system on a mobile platform, which repeatedly computes the safest direction of travel and moves accordingly, ultimately generating a real-time path to the goal. | en_US |
| dc.identifier | https://doi.org/10.13016/M2V11VM8D | |
| dc.identifier.citation | This was published publically on the ECE MERIT 2009 archive and did not have a formal citation. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1903/20156 | |
| dc.language.iso | en_US | en_US |
| dc.relation.isAvailableAt | Institute for Systems Research | en_us |
| dc.relation.isAvailableAt | Digital Repository at the University of Maryland | en_us |
| dc.relation.isAvailableAt | University of Maryland (College Park, MD) | en_us |
| dc.relation.ispartofseries | ISR;TR_2017-03 | |
| dc.subject | echolocation | en_US |
| dc.subject | mobile robotics | en_US |
| dc.subject | navigation | en_US |
| dc.subject | interaural level differencing | en_US |
| dc.subject | ultrasound | en_US |
| dc.subject | signal processing | en_US |
| dc.subject | motion planning | en_US |
| dc.title | Bat-Inspired Robot Navigation | en_US |
| dc.type | Technical Report | en_US |