Title :
A low-cost robot using omni-directional vision enables insect-like behaviors
Author :
Hart, Charles ; Kreinar, E.J. ; Chrzanowski, David ; Daltorio, Kathryn A. ; Quinn, Roger D.
Author_Institution :
Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
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.
Keywords :
cameras; mobile robots; robot vision; RMS error; autonomous localization; insect inspired behavioral control algorithms; low-cost robot; low-cost sensors; moving robotic system; omnidirectional vision; overhead camera ground truth; particle filter approach; passive indistinguishable landmarks; rambler robot; triangulation power center method; Cameras; Mobile robots; Robot kinematics; Robot vision systems; Visualization;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7140021