venkatesh-aninsect-1998.pdf (183.28 kB)
An insect-based approach to robotic homing
conference contribution
posted on 1998-01-01, 00:00 authored by K Weber, Svetha VenkateshSvetha Venkatesh, M SrinivasanMany 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.
History
Event
International Conference on Pattern Recognition (14th : 1998 : Brisbane, Qld.)Pagination
297 - 299Publisher
IEEELocation
Brisbane, Qld.Place of publication
Los Alamitos, Calif.Publisher DOI
Start date
1998-08-16End date
1998-08-20ISBN-13
9780818685132ISBN-10
0818685131Language
engNotes
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.Publication classification
E1.1 Full written paper - refereedCopyright notice
1998, IEEEEditor/Contributor(s)
A Jain, S Venkatesh, B LovellTitle of proceedings
ICPR 1998 : Proceedings of the 14th International Conference on Pattern RecognitionUsage metrics
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