Abstract: In this paper we present a flexible low-cost sonar sensor platform that can be used for a wide range of biomimetic sonar experiments and autonomous sonar navigation targeted at robotics applications. The navigation abilities of bats using ultrasound (sonar) in unknown cluttered environments are very effective and can be distilled into a sensor architecture and accompanying control methodology that lends itself to be implemented on cost efficient hardware. The sensor architecture and processing methodology of this sensing platform mimics that of bats. In this paper we specifically focused on the common big-eared bat (Micronycteris microtis) although this could be transferred to other bat species or even other echolocating animals since the experimental platform was designed for flexibility. Using this platform we were able to implement a control system using a subsumption architecture that features different behavior patterns based solely on the sonar sensor as a source of exteroceptive information. In order to validate the combination of our autonomous navigation control system and our developed sonar sensor platform, the hardware was mounted on the P3DX robotics platform that was introduced in an unknown testing environment and have it drive autonomously. These experiments were used to validate our assumption of the efficacy of these relatively simple biomimetic control mechanisms and thus alleviating the need for expensive sensing platforms for certain robotics applications.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A flexible low-cost biologically inspired sonar sensor platform for robotic applications


    Beteiligte:
    Laurijssen, Dennis (Autor:in) / Kerstens, Robin (Autor:in) / Schouten, Girmi (Autor:in) / Daems, Walter (Autor:in) / Steckel, Jan (Autor:in)

    Erscheinungsdatum :

    01.01.2019


    Anmerkungen:

    1050-4729 ; IEEE international conference on robotics and automation


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Biologically inspired behaviour design for autonomous robotic fish

    Liu, J. D. / Hu, H. | British Library Online Contents | 2006


    Biologically-Inspired Collective Control for an Autonomous Robotic Arm

    Harty, T. H. / Korienek, G. G. / Leddon, C. et al. | British Library Online Contents | 2001


    Biologically Inspired Controller for Sound Applications

    Carneal, J.P. | Online Contents | 1995



    Biologically inspired controller for sound applications

    Carneal, James P. / Fuller, Chris R. | AIAA | 1995