Lidar-Based Navigation of Subterranean Environments Using Bio-Inspired Wide-Field Integration of Nearness

• Published in: Sensors (Basel, Switzerland) Vol. 22; no. 3; p. 849
• Main Authors: Ohradzansky, Michael T, Humbert, J Sean
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 23.01.2022; MDPI
• Subjects: Algorithms; Animals; Autonomous navigation; bio-inspired navigation; Caves; Control algorithms; Convergence; Electric fields; Estimates; Feedback; Flow velocity; Global positioning systems; GPS; Insects; Optical radar; quadrotor control; Remote sensing; Robotics; Robots; sensorimotor convergence; Sensors; Signal processing; subterranean exploration; Traffic speed; Unknown environments; Weighting functions; subterranean exploration; quadrotor control; sensorimotor convergence; bio-inspired navigation

Navigating unknown environments is an ongoing challenge in robotics. Processing large amounts of sensor data to maintain localization, maps of the environment, and sensible paths can result in high compute loads and lower maximum vehicle speeds. This paper presents a bio-inspired algorithm for effic...