Qualitative homing III: the effect of inexact landmark bearings

Brian Pinette

doi:10.1117/12.198965

9 January 1995 Qualitative homing III: the effect of inexact landmark bearings

Brian Pinette

Proceedings Volume 2352, Mobile Robots IX; (1995) https://doi.org/10.1117/12.198965
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

In the two-frame homing problem addressed by this paper, a robot is given (1) the bearings of the landmarks at the robot's current location, (2) the bearings of the landmarks at the target location and (3) the correspondences between landmarks across the two locations; it is required to make an admissible movement--one that takes it closer to the target location. Previous papers have described how to carry out homing when landmark bearings are exactly known (even when some landmark correspondences are incorrect). This paper extends these results to the case where landmark bearings are not measured exactly, but only within a bounded tolerance. An algorithm for computing admissible movements from inexact landmarks is given; this algorithm is provably correct and optimal. The effect of inexact landmark bearings on the robot's ability to detect inconsistent landmark correspondences is discussed.

Citation Download Citation

Brian Pinette "Qualitative homing III: the effect of inexact landmark bearings", Proc. SPIE 2352, Mobile Robots IX, (9 January 1995); https://doi.org/10.1117/12.198965

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