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Insect-inspired robotic homing

journal contribution
posted on 1999-01-01, 00:00 authored by K Weber, Svetha VenkateshSvetha Venkatesh, M Srinivasan
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, yet robust, homing scheme that only relies upon the observation of the bearings of visible landmarks. However, this can easily be extended to include other visual cues. The homing algorithm allows a mobile robot to home incrementally 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 the approach.

History

Journal

Adaptive behavior

Volume

7

Issue

1

Pagination

65 - 97

Publisher

Sage Publications

Location

London, England

ISSN

1059-7123

eISSN

1741-2633

Language

eng

Publication classification

C1.1 Refereed article in a scholarly journal

Copyright notice

1999, International Society for Adaptive Behavior