Accession Number:

ADA199376

Title:

Computer Simulation of Animal Navigation

Descriptive Note:

Annual technical rept. Jul 1986-Aug 1987

Corporate Author:

ENVIRONMENTAL RESEARCH INST OF MICHIGAN ANN ARBOR

Report Date:

1988-07-01

Pagination or Media Count:

19.0

Abstract:

The robotics research community is striving to endow a wide variety of vehicles with the capability of autonomous mobility. Related research is being undertaken in two intrinsically different test vehicles. The ASV Adaptive Suspension Vehicle, which uses legs as a means of propulsion, is being utilized to address problems of mobility. Mobility research is concerned with the problem of traveling over terrains of high spatial complexity. Machine autonomy can be defined as the ability of a machine to perform tasks in an arbitrarily complex and dynamic environment without external assistance during operation. Autonomy is a subject of research in the wheeled ALV Autonomous Land Vehicle program. By endowing the ASV with a decision system for autonomous navigation over rough terrain, both efforts can be concentrated in one test-bed. Research on foothold selection during terrain traversal was conducted through studies of natural systems and computer simulation. Experiments were performed with Nubian goats on simulated rough terrain in order to explore the ways in which natural systems select footholds. A computer simulation of rough terrain traversal was developed in parallel with the animal studies. Pertinent results from the animal experiments were integrated into the computer simulation. A terrain module was developed for building complex, simulated terrains. Graphics display capabilities were also built to provide views of the generated terrain.

Subject Categories:

  • Animal Husbandry and Veterinary Medicine
  • Computer Programming and Software
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE