venkatesh-insectinspired-1996.pdf (514.03 kB)
Insect inspired behaviours for the autonomous control of mobile robots
conference contribution
posted on 1996-01-01, 00:00 authored by K Weber, Svetha VenkateshSvetha Venkatesh, M SrinivasanAnimals navigate through various uncontrolled environments with seemingly little effort. Flying insects, especially, are quite adept at manoeuvring in complex, unpredictable and possibly hostile environments. Through both simulation and real-world experiments, we demonstrate the feasibility of equipping a mobile robot with the ability to navigate a corridor environment, in real time, using principles based on insect-based visual guidance. In particular we have used the bees’ navigational strategy of measuring object range in terms of image velocity. We have also shown the viability and usefulness of various other insect behaviours: (i) keeping walls equidistant, (ii) slowing down when approaching an object, (iii) regulating speed according to tunnel width, and (iv) using visual motion as a measure of distance travelled.
History
Event
International Conference on Pattern Recognition (13th : 1996 : Vienna Austria)Pagination
156 - 160Publisher
IEEELocation
Vienna, AustriaPlace of publication
Washington, D. C.Publisher DOI
Start date
1996-08-25End date
1996-08-29ISBN-10
081867282XLanguage
engNotes
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.Publication classification
E1.1 Full written paper - refereedCopyright notice
1996, IEEETitle of proceedings
ICPR 1996 : Proceedings of the 13th international Conference on Pattern RecognitionUsage metrics
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