Biologically inspired perception for robotics in hostile environments

Navigation and localization in extreme or hostile environments such as deep ocean, disaster scenes and underground environments where darkness, pollution, and dust render cameras, laser scanners, and other sensors ineffective is a task that is challenging to robotics. Nature, however, equipped cave-dwelling creatures with echo acoustic perception that allowed them to thrive in such environments. Visually impaired people have been successful in using ultrasonic (echo acoustic) mobility aids for day-to-day safe navigation. This work demonstrates a technique for deriving reflector-bearing and range data from backscattered ultrasonic echoes and an improved technique for the use of ultrasonic perception for robotics in hostile environments to render range data usable in the construction of 3-dimensional maps of a disaster site for both surface and subterranean apertures. Low profile inclinometers render data about the robot's pitch and roll, thus providing information usable in assessing the site's stability and identifying potential slippage locations along a rescue path. Augmenting the robots' sensors with a simple heat sensor enables the detection, and rendering of survivors body heat signatures' location, within the site map they build, allowing rescuers to plan a safe rescue path. Future work will examine the potential of adapting swarm technology where multiple agents work collaboratively to produce a complete and coherent site survey in minimum time.