| Bionic navigation is an important research trend in modern navigation technology. Cataglyphis' polarized light navigation and landmark navigation complement each other's advantages, which are helpful to Cataglyphis' foraging in the desert. Therefore, bionic Cataglyphis navigation, regarded as a novel method of autonomous navigation, should be raised both much research significance and many military applications. A positioning robot platform with bionic cataglyphis navigation is described in this dissertation, which is designed and implemented for experimental study and theoretical verification of our proposed method.The main content reads as follows:(1) There are two navigation behaviors in cataglyphis foraging process, which are introduced and discussed for the detail of implementation principles. The literature review of cataglyphis navigation provides a biological model and theoretical support for the designed of the robot platform.(2) Functional requirements are analyzed for the construction of our mobile robot platform system. Navigation hardware platform is implemented based on embedded microprocessor S3C2440A. And the design of acquisition device of polarized light information is completed.(3) The robot based on bionic cataglyphis navigation is given certain detailed implementations and realizations for its hardware platform, such as, acquisition devices for multi-source navigation information, control circuit for signal processing, control circuit for carrier's drive system and so on.(4) Detection performance and accuracy of information collection device and data collection module are verified in the hardware and software testing. Sports performance of system carrier is also estimated in the measurement analysis. Finally, the feasibility and effectiveness of the robot platform system are manifested with the experiments. |
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