| | |
Summary: EXPLOITING PANORAMIC VISION FOR BEARING-ONLY
ROBOT HOMING
KOSTAS E. BEKRIS
Computer Science Department, Rice University,
Houston, TX, 77005, USA
ANTONIS A. ARGYROS
Institute of Computer Science, Foundation for Research
and Technology - Hellas (FORTH),
Heraklion, Crete, Greece
LYDIA E. KAVRAKI
Computer Science Department, Rice University,
Houston, TX, 77005, USA
Omni-directional vision allows for the development of techniques for mobile
robot navigation that have minimum perceptual requirements. In this work, we focus
on robot navigation algorithms that do not require range information or metric maps of
the environment. More specifically, we present a homing strategy that enables a robot to
return to its home position after executing a long path. The proposed strategy relies on
measuring the angle between pairs of features extracted from panoramic images, which
can be achieved accurately and robustly. In the heart of the proposed homing strategy
lies a novel, local control law that enables a robot to reach any position on the plane by
|
