コウモリの生物ソナーから学ぶ超音波センシングによる3次元空間ナビゲーション手法の基礎的検討

抄録

In this study, we investigated the temporal-spatial scanning strategy of bats for obstacle avoidance navigation throughout the constructive approaches using numerical simulation and the autonomous vehicle demonstration. We focused on sensing behavior of bats and constructed mimicking bat's sensing algorithm combining spatial scanning and information integration; double-pulse scanning (DPS) method. Comparing the obstacle avoidance performance between DPS method and conventional method (common use of ultrasound sensor), we evaluated the system. The vehicle embedded DPS method could run though the obstacle course without collision much better than embedded conventional method. Our findings suggested that spatial information integration obtained from alternate spatial scanning with double pulse improve the robustness in context of localization ambiguity, i.e., sensing error multiple echoes overlapping. We also constructed a system of autonomous flight drones to examine 3-D spatial navigation method.