AUTONOMOUS NAVIGATION OF A 5 GRAM CRAWLING MILLIROBOT IN A COMPLEX ENVIRONMENT [chapter]

Allison Mathis, Jared Russell, Tom Moore, Jason Cohen, Brian Satterfield, NicHolas Kohut, Xiao-Yu Fu, ronald S. Fearing
2012 Adaptive Mobile Robotics  
We present the Medic robot: a novel 5-gram autonomous crawling and climbing millirobot designed to navigate through dark, cluttered, confined and electrified environments. Due to payload constraints, all sensing is performed by a single lowresolution camera and processing is split between an onboard unit and a base station. We present an integrated object detector, localizer, and planner that have been successfully demonstrated to enable the millirobot to determine its position within the
more » ... nment, plan and navigate the most efficient path between user-specified start and goal positions, and recover from stuck conditions.
doi:10.1142/9789814415958_0019 fatcat:dwuznuvbj5bdxk3vcy2dxvg5oq