Ultrasound navigation based on minimally designed vehicle inspired by the bio-sonar strategy of bats
Ultrasound navigation based on minimally designed vehicle inspired by the bio-sonar strategy of bats
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基于受蝙蝠生物声纳策略启发的最小设计车辆的超声导航
DOI：
10.1080/01691864.2019.1573470
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发表时间：
2019
影响因子：
2
通讯作者：
Hiryu Shizuko
中科院分区：
文献类型：
--
作者：
Yamada Yasufumi;Ito Kentaro;Tsuji Takumi;Otani Kohei;Kobayashi Ryo;Watanabe Yoshiaki;Hiryu Shizuko
在这项研究中，我们进行了车辆实验和数值模拟的基础上，一个简单的算法的启发，蝙蝠的生物声纳系统，调查蝙蝠的行为策略有助于声学导航的最小设计感测。特别地，提出了一种受蝙蝠回声定位行为启发的双脉冲扫描方法，其中（1）装备有1个发射器和2个接收器的车辆的超声波发射方向在车辆的运动方向和最近障碍物的方向之间交替移动，以及（2）基于来自检测到的所有回波的综合信息，针对每个双脉冲发射计算车辆的运动方向。在100次重复驾驶的实际过程中，避障驾驶的成功率从传统的单脉冲扫描方法的13%提高到73%与所提出的方法。仿真结果表明，该方法能够有效抑制多回波干扰引起的定位模糊，实现鲁棒的路径规划。实际的实验和数值模拟表明，蝙蝠采用一个简单的行为解决方案，在操作中发生的各种问题，在真实的世界的声传感。
In this study, we conducted vehicle experiments and a numerical simulation based on a simple algorithm inspired by the bio-sonar system of bats to investigate how the behavioral strategy employed by bats contributes to acoustic navigation for minimal-design sensing. In particular, a double-pulse scanning method inspired from the echolocation behavior of bats was proposed, in which (1) the direction of ultrasound emission by a vehicle equipped with 1 transmitter and 2 receivers was alternately shifted between the movement direction of the vehicle and the direction of the nearest obstacle, and (2) the movement direction of the vehicle was calculated for every double-pulse emission based on integrated information from all echoes detected. As a result of 100 repeated drives in a practical course, the success rate of an obstacle-avoidance drive improved from 13% with the conventional single-pulse scanning method to 73% with the proposed method. Furthermore, the numerical simulation demonstrated that the proposed method achieves robust path planning by suppressing the localization ambiguity due to the interference of multiple echoes. The practical experiments and numerical simulation suggest that bats employ a simple behavioral solution in the operation of acoustic sensing for various problems occurring in the real world.