Landmark based corridor discrimination
Klaus Weber, S. Venkatesh, Mandyam V. Srinivasan · 1996
For a mobile robot to perform some sort of useful function it usually must have some sort of global understanding of its environment. This is usually expressed in the form of map. Through real-world experiments, using a mobile robot inspired by insect visual guidance, we present results showing the performance of a mobile robot in recognising a previously encountered corridor environment and discriminating between various corridors. This is achieved through the building and refinement of maps based on the observation of simple landmarks en route. 1 Introduction For a mobile robot to do something useful usually implies knowing, to some degree, its location. Being able to move from location to location, purposefully, requires some knowledge of the world and one's place within it. The basic function of our mobile robot is to autonomously navigate along corridor-type environments. We, therefore, have explored the possibility of building some form of representation to adequately describe sp...