A novel approach for robot homing

Although metric navigation techniques have been widely adapted in robot navigation, some powerful qualitative navigation methods have been proposed to achieve navigation. These methods do not require strict metric measures or presence of metric maps. This paper briefly introduces such qualitative navigation techniques and introduces a novel approach for qualitative robot navigation. Comparison of this method to some existing ones is given and performance analysis is presented. This technique requires less amount of information and its performance is comparable to other similar methods.

[1]  Lindsay Kleeman,et al.  A sonar sensor for accurate 3D target localisation and classification , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[2]  R. C. Nelson.  Visual homing using an associative memory , 2004, Biological Cybernetics.

[3]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[4]  Margrit Betke,et al.  Mobile robot localization using landmarks , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[5]  T. S. Collett,et al.  Landmark learning in bees , 1983, Journal of comparative physiology.

[6]  Philippe Gaussier,et al.  Visual navigation in an open environment without map , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[7]  Daryl T. Lawton,et al.  Range-free qualitative navigation , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[8]  L. Nadel,et al.  The Hippocampus as a Cognitive Map , 1978 .

[9]  Edward M. Riseman,et al.  Image-based homing , 1992 .

[10]  Tod S. Levitt,et al.  Qualitative Navigation for Mobile Robots , 1990, Artif. Intell..

[11]  Hanspeter A Mallot,et al.  Route Navigating without Place Recognition: What is Recognised in Recognition-Triggered Responses? , 2000, Perception.

[12]  Liqiang Feng,et al.  Measurement and correction of systematic odometry errors in mobile robots , 1996, IEEE Trans. Robotics Autom..

[13]  B. Pinette.  Qualitative homing , 1991, Proceedings of the 1991 IEEE International Symposium on Intelligent Control.

[14]  Wolfram Burgard,et al.  Fast Grid-Based Position TRacking for Mobile Robots , 1997, KI.

[15]  Hugh F. Durrant-Whyte,et al.  Mobile robot localization by tracking geometric beacons , 1991, IEEE Trans. Robotics Autom..

[16]  B. Pinette.  Image-based navigation through large-scale environments , 1994 .

[17]  W. Burgard,et al.  Markov Localization for Mobile Robots in Dynamic Environments , 1999, J. Artif. Intell. Res..

[18]  Kazuhiko Kawamura,et al.  Toward perception-based navigation using EgoSphere , 2002, SPIE Optics East.

[19]  Ilan Shimshoni.  On mobile robot localization from landmark bearings , 2002, IEEE Trans. Robotics Autom..