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1 Bulletin of the Polish Academy of Sciences. Technical Sciences

1 2019

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Mobile robot visual homing by vector pre-assigned mechanism

Ji X., Zhu Q., Wang J., Cai C., Ma J.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2019

Vol. 67, nr 2

213--227

In this paper, we present an optimization mechanism for two popular landmark-based mobile robot visual homing algorithms (ALV and HiSS), called vector pre-assigned mechanism (VPM). VPM contains two branches, both of which can promote the homing performance effectively. In addition, to make the landmark distribution satisfy the equal distance assumption, a landmark optimization strategy is proposed based on imaging principle of the panoramic vision. Experiments on both panoramic image database and a real mobile robot have confirmed the effectiveness of the proposed methods.