An autonomous robot for continuous tracking of millimetric-sized walkers

Abstract

The precise and continuous tracking of millimetric-sized walkers -such as ants-is quite important in behavioral studies. However, due to technical limitations, most studies concentrate on trajectories within areas no more than 100 times bigger than the size of the walker or longer trajectories at the expense of either accuracy or continuity. Our work describes a scientific instrument designed to push the boundaries of precise and continuous motion analysis up to 1000 body lengths or more. It consists of a mobile robotic platform that uses Digital Image Processing techniques to track the targets in real time by calculating their spatial position. During the experiments, all the images are stored, and afterwards processed to estimate with higher precision the path traced by the walkers. Some preliminary results achieved using the proposed tracking system are presented.

An autonomous driving controller with heading adaptive calibration for agricultural robots

“…Path-tracking controller, as an important part of the autonomous driving system, calculates the desired steering wheel angle according to the position, attitude and desired path of vehicle (Serrano-Muñoz et al , 2019; Xu and Peng, 2019). The accurate desired steering angle is the basis for driving the harvester along the expected path accurately and smoothly.…”