Research / 2021 / Article / Fig 4

Research Article

A Triboelectric-Based Artificial Whisker for Reactive Obstacle Avoidance and Local Mapping

Figure 4

Experimental results. (a) Photographs of the actual workspace for reactive obstacle avoidance. (b) Electronic module used for potential application demonstrations, such as reactive obstacle avoidance and local mapping. (c) Overview of the closed-loop control system for reactive obstacle avoidance. (d) Voltage signal measured at landmarks A, B, and C. (e) Photographs of the actual workspace used for local mapping. (f) Reference frames: BODY reference frame and NED reference frame. (g) Local mapping process, where sensory information is applied for model fitting and real-time model prediction. (h) Voltage signal measured at landmarks A, B, and C.