Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Landmark Navigation through Sector-based Image Matching Method with Reference Compass

각도 좌표계가 있는 경우의 구획 기반 이미지 매칭 기법을 이용한 랜드마크 네비게이션

  • 이지원 (연세대학교 전기전자공학과) ;
  • 김대은 (연세대학교 전기전자공학과)
  • Received : 2009.11.13
  • Accepted : 2010.04.27
  • Published : 2010.07.01
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Abstract

It is known that many insects and animals can return to their nest after exploration, with their own specific homing mechanisms. Their homing navigation methods have been applied to the robotic navigation. In this paper, we test the sector-based image matching method motivated by the honeybee's landmark navigation behaviour. Here, our robotic approach uses the reference compass to identify the current head direction and the relative angular position of landmarks for the navigation. The robot shows desirable homing behaviors if the robot is surrounded by landmarks. The result of robot experiment is in good agreement with that of simulation.

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References

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