Rat Robot Autonomous Border Detection Based on Wearable Sensors.

IF 3 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2025-10-02 DOI:10.1088/1748-3190/ae0ee8

Haobo Xie, Haoze Xu, Kedi Xu, Chaonan Yu, Wei Yang, Canjun Yang

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引用次数: 0

Abstract

Bio-robots, a novel type of robots created based on brain-machine interface, have shown great potential in search and rescue tasks. However, current research focuses on the bio-robot itself, such as locomotion, localization and navigation, but lacks interactions with the external environment. In this paper, we proposed a new system for rat robot to autonomously explore the border of unknown field out of sight, and then get the boundary map. We invented a wearable backpack, which is an embedded system with laser-ranging sensors, IMU and ultra-wide band (UWB) module, for the rat robot. Based on the wearable system, a classification method for motion states based on random forest (RF) and a navigation algorithm based on finite state machine (FSM) were developed for the autonomous exploration of border and tested in the locomotion experiment. Besides, with the localization and distance data from UWB and laser-ranging sensors, we mapped the distribution of the border, using Ramber-Douglas-Peucker (RDP) algorithm. The results show that the system could effectively navigate the rat robot to explore the field and accurately detect the border. The accuracy of classification reaches 97.86% and the error rate of border detection is 5.90%. This work provides a novel technology that has potential for practical applications such as prospect for minerals and search tasks. .

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基于可穿戴传感器的大鼠机器人自主边界检测。

生物机器人是一种基于脑机接口的新型机器人，在搜救任务中显示出巨大的潜力。然而，目前的研究主要集中在生物机器人本身，如运动、定位和导航，而缺乏与外部环境的交互。在本文中，我们提出了一种新的大鼠机器人系统，用于自动探索未知领域的边界，并获得边界地图。我们为老鼠机器人发明了一种可穿戴背包，它是一个内置激光测距传感器、IMU和超宽带（UWB）模块的嵌入式系统。基于可穿戴系统，提出了一种基于随机森林（RF）的运动状态分类方法和一种基于有限状态机（FSM）的导航算法，并在运动实验中进行了验证。此外，利用超宽带和激光测距传感器的定位和距离数据，采用RDP （Ramber-Douglas-Peucker）算法绘制了边界的分布。实验结果表明，该系统能够有效地引导大鼠机器人进行野外探测，并准确地检测出边界。分类准确率达到97.86%，边界检测错误率为5.90%。这项工作提供了一种具有实际应用潜力的新技术，如矿产勘探和搜索任务。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.