Prof. Ross K. Snider Profile

Prof. Ross K. Snider

at Snider Technology Inc

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Proceedings Article | 9 May 2006 Paper

Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

Ross Snider, David Arathorn

Proceedings Volume 6229, 62290H (2006) https://doi.org/10.1117/12.663721

KEYWORDS: Superposition, Robotics, Clouds, Kinematics, Neurons, Brain mapping, Brain, Image segmentation, Diffusion, Environmental sensing

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A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

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