TY - JOUR
T1 - Biomimetic application of desert ant visual navigation for mobile robot docking with weighted landmarks
AU - Wei, Ran
AU - Austin, David
AU - Austin, David
AU - Mahony, Robert
PY - 2005
Y1 - 2005
N2 - Previous work has shown that honeybees use a snapshot model to determine a local vector to find their way home. A simpler, average landmark vector model has since been proposed for biologically-inspired mobile robot homing. Previously, the authors have extended the model to address the problem of docking a unicycle-like vehicle smoothly using bearing-only information and without reconstructing the pose of the vehicle (Wei et al., 2003, 2004). Here, we extend further to consider weighted landmarks, allowing greater control over the shape of the trajectory that the robot will follow. This approach permits docking from a wider range of initial poses, while respecting the kinematic constraints of the robot. The proposed control method has been implemented on the Nomadic Technologies XR4000 robot at ANU using visual landmarks. Experimental results are presented which demonstrate the desired docking behaviour from a broad range of initial conditions.
AB - Previous work has shown that honeybees use a snapshot model to determine a local vector to find their way home. A simpler, average landmark vector model has since been proposed for biologically-inspired mobile robot homing. Previously, the authors have extended the model to address the problem of docking a unicycle-like vehicle smoothly using bearing-only information and without reconstructing the pose of the vehicle (Wei et al., 2003, 2004). Here, we extend further to consider weighted landmarks, allowing greater control over the shape of the trajectory that the robot will follow. This approach permits docking from a wider range of initial poses, while respecting the kinematic constraints of the robot. The proposed control method has been implemented on the Nomadic Technologies XR4000 robot at ANU using visual landmarks. Experimental results are presented which demonstrate the desired docking behaviour from a broad range of initial conditions.
KW - biomimetic navigation
KW - mobile robot docking
KW - panoramic vision
KW - visual landmarks
UR - http://www.scopus.com/inward/record.url?scp=46349098645&partnerID=8YFLogxK
U2 - 10.1504/ijista.2005.007314
DO - 10.1504/ijista.2005.007314
M3 - Article
SN - 1740-8865
VL - 1
SP - 174
EP - 190
JO - International Journal of Intelligent Systems Technologies and Applications
JF - International Journal of Intelligent Systems Technologies and Applications
IS - 1-2
ER -