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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Homing Navigation Based on Path Integration with Optical Flow

광학 흐름 기반 경로 누적법을 이용한 귀소 내비게이션

  • 차영서 (연세대학교 전기전자공학부) ;
  • 김대은 (연세대학교 전기전자공학부)
  • Received : 2011.11.15
  • Accepted : 2011.12.20
  • Published : 2012.02.01
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Abstract

There have been many homing navigation algorithms for robotic system. In this paper, we suggest a bio-inspired navigation model. It builds path integration based on optical flow. We consider two factors on robot movements, translational movement and rotational movement. For each movement, we found distinguishable optical flows. Based on optical flow, we estimate ego-centric robot movement and integrate the path optimally. We can determine the homing direction and distance. We test this algorithm and evaluate the performance of homing navigation for robotic system.

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References

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