A Novel Mobile Robot Visual Homing Strategy Based on Pseudo-Isometric Distribution of Landmarks

Visual homing is an essential technology for robot navigation. However, all landmark-based visual homing methods are usually constrained by the assumption of equal distance of landmarks. To alleviate this assumption, a novel visual homing strategy, termed Pseudo-Isometric Distribution Vector Pre-ass...

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Bibliographic Details
Published in2022 5th International Conference on Intelligent Autonomous Systems (ICoIAS) pp. 231 - 237
Main Authors Sun, Guosong, Ji, Xun, Er, Meng Joo
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.09.2022
Subjects
Computational modeling
intelligent robotics
Interference
landmark distribution
Lighting
Navigation
Real-time systems
robot navigation
Robustness
vector pre-assigned mechanism
visual homing
Visualization
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Summary:Visual homing is an essential technology for robot navigation. However, all landmark-based visual homing methods are usually constrained by the assumption of equal distance of landmarks. To alleviate this assumption, a novel visual homing strategy, termed Pseudo-Isometric Distribution Vector Pre-assigned Mechanism (PD-VPM), is proposed in this paper. The proposed strategy can alleviate effects of randomness and unevenness of landmark distribution. All landmarks can be described by an equivalent representation by adaptively adjusting their weights without artificial interference, so that homing performance is significantly enhanced. Comparative studies demonstrate that the proposed strategy is superior to state-of-the-art methods in terms of homing precision while maintaining computation speed.
DOI:10.1109/ICoIAS56028.2022.9931263