Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

Ross K. Snider; David W. Arathorn

doi:10.1117/12.663721

9 May 2006 Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

Ross K. Snider, David W. Arathorn

Proceedings Volume 6229, Intelligent Computing: Theory and Applications IV; 62290H (2006) https://doi.org/10.1117/12.663721
Event: Defense and Security Symposium, 2006, Orlando (Kissimmee), Florida, United States

Abstract

A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

Citation Download Citation

Ross K. Snider and David W. Arathorn "Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits", Proc. SPIE 6229, Intelligent Computing: Theory and Applications IV, 62290H (9 May 2006); https://doi.org/10.1117/12.663721

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