A low-cost robot using omni-directional vision enables insect-like behaviors

  • Hart C
  • Kreinar E
  • Chrzanowski D
 et al. 
  • 30

    Readers

    Mendeley users who have this article in their library.
  • 1

    Citations

    Citations of this article.

Abstract

RAMBLER Robot is designed for researching insect inspired behavioral control algorithms. To evaluate these algorithms, RAMBLER Robot needs autonomous localization without typical sensors like wheel odometers or GPS. The primary objective of this work is to independently, accurately, and robustly recover the path of a moving robotic system with low-cost sensors available off-the-shelf. The computationally efficient power center method of triangulation is compared to a particle filter approach. With three passive indistinguishable landmarks at corners of a small arena, RAMBLER Robot successfully localizes with an RMS error of 2.27cm compared to an overhead camera ground truth.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

  • Charles Hart

  • E. J. Kreinar

  • David Chrzanowski

  • Kathryn A. Daltorio

  • Roger D. Quinn

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free