【摘要】 复杂环境中的导航定位能力对于动物和机器人来说是至关重要的,很多昆虫通过天空中的偏振光模式图来获取方向信息。偏振视觉是以这些昆虫眼睛背部区域一些特殊结构的复眼为媒介的,这些复眼中包含有对于偏振光方向极度敏感的感光器。受到昆虫偏振光罗盘导航的启发,在移动机器人Sahabot上构建的偏振罗盘获得成功应用。讨论了从天空偏振模式图中提取方向信息的模型;为了提高测角模型的角度分辨率和计算效率,提出了改进方法。数值仿真结果表明了新方法的有效性。更多还原

【Abstract】 The ability to navigate in a complex environment is crucial for both animals and robots.Many insects gain directional information from the polarization pattern of the sky.Polarization vision is mediated by the specialized ommatidia of the dorsal rim area of the compound eye,which contains highly polarization-sensitive photoreceptors.Inspired by the insects’ polarized light compass,a polarization compass employed successfully on the mobile robot Sahabot was constructed.The model for extracting compass information from the polarization pattern of the sky was discussed.In order to increase the angle resolution and computation efficiency,a novel method was suggested.Numerical simulation results indicated that this method was efficient.更多还原