Présentation PowerPoint · 2017. 11. 28. · A novel insect-inspired optical compass sensor for an...
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1 JJCR 2017
Transcript of Présentation PowerPoint · 2017. 11. 28. · A novel insect-inspired optical compass sensor for an...
1 JJCR 2017
The polarized light detection in insects
Adapted from Wehner, 1982. After Labhart, 1988.
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After Wehner, 2009.
Bio-inspired celestial compass techniques
After Labhart, 1988.
After Chu et al., 2014.
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Our UV-polarized light celestial compass
θ = 100°
1cm
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The robotic implementation
FRONT
IMURaspberry Pi 2 Board
10cm5
Photodiode UV1
The hexapod walking robotic platform: HEXABOT
Dupeyroux et al., 20176
How does it work ? (1)
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UV0 UV1
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How does it work ? (2)
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𝝍 =
Angle of Polarization
90°
180°
180°
Angle of Solar MeridianVariable SkyUV-index = 1Dupeyroux et al., 2017
Heading direction recovery (1)
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Heading direction recovery (2)
N = 15 N = 11 N = 7
𝑬𝒓𝒓𝑪𝒍𝒆𝒂𝒓𝑺𝒌𝒚 = 𝟎. 𝟒°
𝑬𝒓𝒓𝑶𝒗𝒆𝒓𝒄𝒂𝒔𝒕𝑺𝒌𝒚 = −𝟏. 𝟗°
𝑬𝒓𝒓𝑽𝒂𝒓𝒊𝒂𝒃𝒍𝒆𝑺𝒌𝒚 = −𝟐. 𝟗°
42-second acquisition time per POL-measurement
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Heading-lock over a straight-forward walking task
𝑬𝒓𝒓 = 𝟎. 𝟑°
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Clear skyUV-index = 6
𝑹𝑴𝑺𝑬𝑷𝑶𝑳 = 𝟑°𝑹𝑴𝑺𝑬𝑴𝑨𝑮 = 𝟔𝟏°
The celestial compass as a spare to traditional methods
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Conclusion and perspectives• UV-index between 1 and 2; 42-secondacquisition time, to be reduced at 20s.
• Heading direction error from 0.3° underclear sky to 2.9° under worse weatherconditions, both with very low UVindex. Highly reliable celestial compass.
• Sensory modalities very similar to thoseof insects: robotic insect embodiment.
• Even under poor weather conditions,these results suggest interestingprecision to make the optical compasssuitable for field robotics as a sparesensor as it is unsensitive to magneticinterferences.
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Information
Contact: [email protected]: http://julien-dupeyroux.livehost.fr/
J. Dupeyroux, J. Diperi, M. Boyron, S. Viollet and J. Serres (2017) A novel insect-inspired optical compass sensor for an hexapod walking robot.In proc. of IEEE IROS Conference 2017, Vancouver, Canada, pp. 3439-3445.
J. Dupeyroux, J. Diperi, M. Boyron, S. Viollet and J. Serres (2017) A bio-inspired celestial compass applied to an ant-inspired robot for autonomous navigation.In proc. of IEEE ECMR Conference 2017, Paris, France, p. 119-124.
J. Dupeyroux, G. Passault, F. Ruffier, S. Viollet and J. Serres (2017) Hexabot : a small 3D-printed six-legged walking robot designed for desert ant-like navigation tasks.In proc. of IFAC Conference 2017, Toulouse, France, pp. 1628-631.
