A moment measure model of landmarks for local homing navigation

Changmin Lee, Dae Eun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Visual navigation in robotics is one of the challenging issues, and many navigation approaches are based on localization of a mobile robot in the environment. The snapshot model is a biologically inspired model of insect behaviour to return home and it shows a simple algorithm to compare the snapshot images at the current position and the destination, instead of complex localization process. Here, we propose a new homing navigation method based on a moment measure to characterize the snapshot image efficiently. The method uses range values or pixel values of surrounding landmarks. Then it defines a moment measure to evaluate the environmental features, or landmark distributions, and the measure forms a convex shape of landscape with respect to robot positions in the environment. Based on the landscape, the mobile robot can return home successfully. Range sensors or image sensors can sufficiently provide the landscape information. Our experimental results demonstrate that the method is effective even in real environments.

Original languageEnglish
Title of host publicationFrom Animals to Animats - 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Proceedings
EditorsJohn Hallam, Elio Tuci, Alexandros Giagkos, Myra Wilson
PublisherSpringer Verlag
Pages126-137
Number of pages12
ISBN (Print)9783319434872
DOIs
Publication statusPublished - 2016 Jan 1
Event14th International Conference on Simulation of Adaptive Behavior, SAB 2016 - Aberystwyth, United Kingdom
Duration: 2016 Aug 232016 Aug 26

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9825 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other14th International Conference on Simulation of Adaptive Behavior, SAB 2016
CountryUnited Kingdom
CityAberystwyth
Period16/8/2316/8/26

Fingerprint

Snapshot
Landmarks
Navigation
Moment
Mobile Robot
Mobile robots
Image Sensor
Image sensors
Range of data
Robotics
Pixel
Robot
Pixels
Model
Robots
Sensor
Evaluate
Sensors
Experimental Results
Demonstrate

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Lee, C., & Kim, D. E. (2016). A moment measure model of landmarks for local homing navigation. In J. Hallam, E. Tuci, A. Giagkos, & M. Wilson (Eds.), From Animals to Animats - 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Proceedings (pp. 126-137). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9825 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-319-43488-9_12
Lee, Changmin ; Kim, Dae Eun. / A moment measure model of landmarks for local homing navigation. From Animals to Animats - 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Proceedings. editor / John Hallam ; Elio Tuci ; Alexandros Giagkos ; Myra Wilson. Springer Verlag, 2016. pp. 126-137 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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Lee, C & Kim, DE 2016, A moment measure model of landmarks for local homing navigation. in J Hallam, E Tuci, A Giagkos & M Wilson (eds), From Animals to Animats - 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9825 LNCS, Springer Verlag, pp. 126-137, 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Aberystwyth, United Kingdom, 16/8/23. https://doi.org/10.1007/978-3-319-43488-9_12

A moment measure model of landmarks for local homing navigation. / Lee, Changmin; Kim, Dae Eun.

From Animals to Animats - 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Proceedings. ed. / John Hallam; Elio Tuci; Alexandros Giagkos; Myra Wilson. Springer Verlag, 2016. p. 126-137 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9825 LNCS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - Visual navigation in robotics is one of the challenging issues, and many navigation approaches are based on localization of a mobile robot in the environment. The snapshot model is a biologically inspired model of insect behaviour to return home and it shows a simple algorithm to compare the snapshot images at the current position and the destination, instead of complex localization process. Here, we propose a new homing navigation method based on a moment measure to characterize the snapshot image efficiently. The method uses range values or pixel values of surrounding landmarks. Then it defines a moment measure to evaluate the environmental features, or landmark distributions, and the measure forms a convex shape of landscape with respect to robot positions in the environment. Based on the landscape, the mobile robot can return home successfully. Range sensors or image sensors can sufficiently provide the landscape information. Our experimental results demonstrate that the method is effective even in real environments.

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Lee C, Kim DE. A moment measure model of landmarks for local homing navigation. In Hallam J, Tuci E, Giagkos A, Wilson M, editors, From Animals to Animats - 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, Proceedings. Springer Verlag. 2016. p. 126-137. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-319-43488-9_12