Cataglyphis Ant Navigation Strategies Solve the Global Localization Problem in Robots with Binary Sensors

Nils Rottmann, Ralf Bruder, Achim Schweikard, Elmar Rueckert

2019

Abstract

Low cost robots, such as vacuum cleaners or lawn mowers, employ simplistic and often random navigation policies. Although a large number of sophisticated localization and planning approaches exist, they require additional sensors like LIDAR sensors, cameras or time of flight sensors. In this work, we propose a global localization method biologically inspired by simple insects, such as the ant Cataglyphis that is able to return from distant locations to its nest in the desert without any or with limited perceptual cues. Like in Cataglyphis, the underlying idea of our localization approach is to first compute a pose estimate from pro-prioceptual sensors only, using land navigation, and thereafter refine the estimate through a systematic search in a particle filter that integrates the rare visual feedback. In simulation experiments in multiple environments, we demonstrated that this bioinspired principle can be used to compute accurate pose estimates from binary visual cues only. Such intelligent localization strategies can improve the performance of any robot with limited sensing capabilities such as household robots or toys.

Paper Citation

in Harvard Style

Rottmann N., Bruder R., Schweikard A. and Rueckert E. (2019). Cataglyphis Ant Navigation Strategies Solve the Global Localization Problem in Robots with Binary Sensors. In Proceedings of the 12th International Joint Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2019) - Volume 4: BIOSIGNALS; ISBN 978-989-758-353-7, SciTePress, pages 214-223. DOI: 10.5220/0007556102140223

in Bibtex Style

@conference{biosignals19,
author={Nils Rottmann and Ralf Bruder and Achim Schweikard and Elmar Rueckert},
title={Cataglyphis Ant Navigation Strategies Solve the Global Localization Problem in Robots with Binary Sensors},
booktitle={Proceedings of the 12th International Joint Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2019) - Volume 4: BIOSIGNALS},
year={2019},
pages={214-223},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007556102140223},
isbn={978-989-758-353-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Joint Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2019) - Volume 4: BIOSIGNALS
TI - Cataglyphis Ant Navigation Strategies Solve the Global Localization Problem in Robots with Binary Sensors
SN - 978-989-758-353-7
AU - Rottmann N.
AU - Bruder R.
AU - Schweikard A.
AU - Rueckert E.
PY - 2019
SP - 214
EP - 223
DO - 10.5220/0007556102140223
PB - SciTePress