Sensor-Based Legged Robot Homing Using Range-Only Target Localization
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Kodlab
legged robots
sensor-based motion planning
collision avoidance
target localization
homing
Electrical and Computer Engineering
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Robotics
Systems Engineering
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Abstract
This paper demonstrates a fully sensor-based reactive homing behavior on a physical quadrupedal robot, using onboard sensors, in simple (convex obstacle-cluttered) unknown, GPS-denied environments. Its implementation is enabled by our empirical success in controlling the legged machine to approximate the (abstract) unicycle mechanics assumed by the navigation algorithm, and our proposed method of range-only target localization using particle filters. For more information: Kod*lab
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This work was supported in part by by AFRL grant FA865015D1845 (subcontract 669737-1) and in part by ONR grant #N00014-16-1-2817, a Vannevar Bush Fellowship held by the last author, sponsored by the Basic Research Office of the Assistant Secretary of Defense for Research and Engineering.