Abstract
The use of landmarks is a natural and instinctive method to determine the whereabouts of a location or a means to proceed to a particular location. Results provided in this paper indicate that landmark-based navigation possesses a corrective or feedback trait that produces a convergence bound on the movements to the goal position, in contrast to the odometry-based movements, which leads to the drift between successive navigation movements. Experiments show that the vector field approach can be used to explain the convergence property of landmark-based guidance tasks. Experiments have been carried out operating with a Nomad mobile robot equipped with real-time visual landmark tracking system.
Original language | English |
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Pages | 649-654 |
Number of pages | 6 |
Publication status | Published - 2002 |
Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 30 Sept 2002 → 4 Oct 2002 |
Conference
Conference | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Country/Territory | Switzerland |
City | Lausanne |
Period | 30/09/02 → 4/10/02 |