Simultaneous localisation and mapping on a multi-degree of freedom biomimetic whiskered robot

Pearson, Martin; Fox, Charles W; Sullivan, J. Charles; Prescott, Tony J.; Pipe, Tony; Mitchinson, Ben

Abstract

A biomimetic mobile robot called 'Shrewbot' has been built as part of a neuroethological study of the mammalian facial whisker sensory system. This platform has been used to further evaluate the problem space of whisker based tactile Simultaneous Localisation And Mapping (tSLAM). Shrewbot uses a biomorphic 3-dimensional array of active whiskers and a model of action selection based on tactile sensory attention to explore a circular walled arena sparsely populated with simple geometric shapes. Datasets taken during this exploration have been used to parameterise an approach to localisation and mapping based on probabilistic occupancy grids. We present the results of this work and conclude that simultaneous localisation and mapping is possible given only noisy odometry and tactile information from a 3-dimensional array of active biomimetic whiskers and no prior information of features in the environment. © 2013 IEEE.

• Presentation Conference Type: Conference Paper (published)
• Online Publication Date: Oct 17, 2013
• Publication Date: Nov 14, 2013
• Deposit Date: Oct 8, 2013
• Publicly Available Date: Apr 12, 2016
• Publisher: Institute of Electrical and Electronics Engineers
• Pages: 586-592
• Book Title: 2013 IEEE International Conference on Robotics and Automation
• ISBN: 9781467356411
• DOI: https://doi.org/10.1109/ICRA.2013.6630633
• Keywords: simultaneous, mapping, multidegree, biomimetic, whiskered, robot
• Public URL: https://uwe-repository.worktribe.com/output/932057
• Publisher URL: http://dx.doi.org/10.1109/ICRA.2013.6630633
• Related Public URLs: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6630633&queryText%3DSimultaneous+localisation+and+mapping+on+a+multi-degree+of+freedom+biomimetic+whiskered+robot
• Additional Information: Additional Information : Copyright 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.