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Proceedings Paper

Qualitative homing II: handling incorrectly identified landmarks
Author(s): Brian Pinette
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Paper Abstract

In a homing problem a robot is required to go to a fixed target location. In the version of the homing problem presented here, the robot uses discrepancies between landmark bearings at the current location and the target location to calculate appropriate movements. Landmarks from the current frame that have been incorrectly identified in the target frame, however, can mislead the robot, perhaps causing it to move away from the target location. This paper describes a two-frame algorithm that can detect and remove those incorrectly-identified landmarks that are inconsistent with the actual direction of the target location. This consistency-filtering algorithm is guaranteed to work as long as more than two-thirds of the landmarks are correctly identified. It is shown that no other two-frame algorithm works any better than this consistency-filtering algorithm.

Paper Details

Date Published: 4 May 1993
PDF: 11 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143818
Show Author Affiliations
Brian Pinette, Univ. of Massachusetts/Amherst (United States)

Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

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