Weber, Keven, Venkatesh, Svetha and Srinivasan, M. V. 1998, An insect-based approach to robotic homing, in ICPR 1998 : Proceedings of the 14th International Conference on Pattern Recognition, IEEE, Los Alamitos, Calif., pp. 297-299, doi: 10.1109/ICPR.1998.711140.
Many animals, including insects, successfully engage in visual homing. We describe a system that allows a mobile robot to home. Specifically we propose a simple extension to our original homing scheme which significantly improves its performance by incorporating a richer view of the environment. The addition of landmark apparent-size cues assists homing by providing a more robust homing vector as well as providing a simple and effective method of reinforcing landmark avoidance. The homing algorithm allows a mobile robot to incrementally home by moving in such a way as to gradually reduce the discrepancy between the current view and the view obtained from the home position. Both simulation and mobile robot experiments are used to demonstrate the feasibility of this approach. By matching the bearings of features extracted from panoramic views and using a vector summation technique to compute a homing vector we are able to provide a simple, parsimonious and robust robotic homing algorithm.
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Field of Research
089999 Information and Computing Sciences not elsewhere classified
Socio Economic Objective
970108 Expanding Knowledge in the Information and Computing Sciences
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