Name
Title | ||
|---|---|---|
Egocentric Direction and the Visual Guidance of Robot Locomotion Background, Theory and Implementation |
Abstract | ||
|---|---|---|
In this paper we describe the motivation, design and implementation of a system to visually guide a locomoting robot towards a target and around obstacles. The work was inspired by a recent suggestion that walking humans rely on perceived egocentric direction rather than optic flow to guide locomotion to a target. We briefly summarise the human experimental work and then illustrate how direction based heuristics can be used in the visual guidance of locomotion. We also identify perceptual variables that could be used in the detection of obstacles and a control law for the regulation of obstacle avoidance. We describe simulations that demonstrate the utility of the approach and the implementation of these control laws on a Nomad mobile robot. We conclude that our simple biologically inspired solution produces robust behaviour and proves a very promising approach. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1007/3-540-36181-2_58 | Biologically Motivated Computer Vision |
Keywords | Field | DocType |
perceptual variable,egocentric direction,recent suggestion,locomoting robot,promising approach,robot locomotion background,control law,obstacle avoidance,human experimental work,visual guidance,nomad mobile robot,optic flow,optical flow,mobile robot | Visual guidance,Obstacle avoidance,Computer vision,Binocular disparity,Robot locomotion,Human–computer interaction,Heuristics,Artificial intelligence,Engineering,Robot,Perception,Mobile robot | Conference |
Volume | ISSN | ISBN |
2525 | 0302-9743 | 3-540-00174-3 |
Citations | PageRank | References |
6 | 1.02 | 4 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Simon K. Rushton | 1 | 33 | 5.92 |
| Jia Wen | 2 | 6 | 1.02 |
| robert s allison | 3 | 217 | 29.68 |