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Ant Trails - an Example For Robots to Follow?

Ant Trails - an Example For Robots to Follow?. 機器人運動模型 PAPER 報告 M9615017 林昭源. Outline. INTRODUCTION TRAIL FOLLOWING BY ANTS THE ROBOT VEHICLE THE CONTROL ALGORITHM EXPERIMENTAL RESULTS CONCLUSIONS. INTRODUCTION. The detection of odours is a sensory modality that has

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Ant Trails - an Example For Robots to Follow?

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  1. Ant Trails - an Example For Robots to Follow? 機器人運動模型PAPER報告 M9615017 林昭源

  2. Outline • INTRODUCTION • TRAIL FOLLOWING BY ANTS • THE ROBOT VEHICLE • THE CONTROL ALGORITHM • EXPERIMENTAL RESULTS • CONCLUSIONS

  3. INTRODUCTION • The detection of odours is a sensory modality that has received relatively little attention from roboticists.

  4. INTRODUCTION • Odour trails could also be used to help organise swarms of robots. • Inthis application conventional control schemes do not function well • Millions of years of evolution have produced ant trail tracking algorithms which are remarkably simple and robust.

  5. TRAIL FOLLOWING BY ANTS • A guide path for worker ants to follow • Worker ants navigate along this trail to transport the food back • Experiments have shown that if the ant has its left antenna removed then the remaining right antenna still triggers

  6. THE ROBOT VEHICLE

  7. THE ROBOT VEHICLE • Radius of curvature • is an important • parameter

  8. THE CONTROL ALGORITHM

  9. THE CONTROL ALGORITHM

  10. EXPERIMENTAL RESULTS

  11. EXPERIMENTAL RESULTS

  12. EXPERIMENTAL RESULTS

  13. CONCLUSIONS • The algorithm was found to provide robust trail tracking and will help to establish the viability of odour trail laying and tracking as aids to robot navigation.

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