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http://dx.doi.org/10.5302/J.ICROS.2012.18.2.094

Homing Navigation Based on Path Integration with Optical Flow  

Cha, Young-Seo (Yonsei University)
Kim, Dae-Eun (Yonsei University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.2, 2012 , pp. 94-102 More about this Journal
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.
Keywords
bio-inspired algorithm; homing navigation; path integration; optical flow;
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Times Cited By KSCI : 4  (Citation Analysis)
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