Bat-Inspired Robot Navigation

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dc.contributor.advisorHoriuchi, Timothy K.
dc.contributor.advisorKrishnaprasad, P. S.
dc.contributor.authorKuhlman, Michael Joseph
dc.contributor.authorMcRoberts, Kate
dc.date.accessioned2017-10-12T18:57:36Z
dc.date.available2017-10-12T18:57:36Z
dc.date.issued2009-08
dc.description.abstractA 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.identifierhttps://doi.org/10.13016/M2V11VM8D
dc.identifier.citationThis was published publically on the ECE MERIT 2009 archive and did not have a formal citation.en_US
dc.identifier.urihttp://hdl.handle.net/1903/20156
dc.language.isoen_USen_US
dc.relation.isAvailableAtInstitute for Systems Researchen_us
dc.relation.isAvailableAtDigital Repository at the University of Marylanden_us
dc.relation.isAvailableAtUniversity of Maryland (College Park, MD)en_us
dc.relation.ispartofseriesISR;TR_2017-03
dc.subjectecholocationen_US
dc.subjectmobile roboticsen_US
dc.subjectnavigationen_US
dc.subjectinteraural level differencingen_US
dc.subjectultrasounden_US
dc.subjectsignal processingen_US
dc.subjectmotion planningen_US
dc.titleBat-Inspired Robot Navigationen_US
dc.typeTechnical Reporten_US

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