By Topic

Dealing with robustness in mobile robot guidance while operating with visual strategies

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
G. Bianco ; Servizio Inf., Verona Univ., Italy ; A. Zelinsky

This paper introduces a theory to formally and practically analyze the robustness issues of visual guidance methods for robot navigation. The first aspect is related to the convergence of the navigation system to the goal. It is shown how the dynamic system which drives the strategies can be analyzed by using classical concepts such as the Lyapunov functions. The second aspect concerns the conservativeness of the resulting navigation vector fields. It is shown how this deals with the repeatability of the trials. Furthermore, the selection of the best landmarks to perform the navigation processes strongly affects the conservativeness thus providing a formal way to do landmark learning. The theory has been tested with two different visual methods that have been derived from the biological world: the snapshot model and the landmark model

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference: