Abstract
Visual navigation in robotics is one of the challenging issues, and many navigation approaches are based on localization of a mobile robot in the environment. The snapshot model is a biologically inspired model of insect behaviour to return home and it shows a simple algorithm to compare the snapshot images at the current position and the destination, instead of complex localization process. Here, we propose a new homing navigation method based on a moment measure to characterize the snapshot image efficiently. The method uses range values or pixel values of surrounding landmarks. Then it defines a moment measure to evaluate the environmental features, or landmark distributions, and the measure forms a convex shape of landscape with respect to robot positions in the environment. Based on the landscape, the mobile robot can return home successfully. Range sensors or image sensors can sufficiently provide the landscape information. Our experimental results demonstrate that the method is effective even in real environments.
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This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (No. 2014R1A2A1A11053839).
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Lee, C., Kim, D. (2016). A Moment Measure Model of Landmarks for Local Homing Navigation. In: Tuci, E., Giagkos, A., Wilson, M., Hallam, J. (eds) From Animals to Animats 14. SAB 2016. Lecture Notes in Computer Science(), vol 9825. Springer, Cham. https://doi.org/10.1007/978-3-319-43488-9_12
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DOI: https://doi.org/10.1007/978-3-319-43488-9_12
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