Single Landmark Navigation By Mobile Robots

摘要

Mobile robots may use naturally occurring or man-made landmarks to navigate over different types of terrain. Many navigational techniques require the simultaneous detection of two or more landmarks in order to update deduced reckoning position estimates, requiring a high density of identifiable reference points. Analytical methods and formulae are presented which permit navigation using a single landmark, given sensorderived azimuth angle, elevation angle, or range information. Experimental results using an infrared beacon are discussed, together with predictions of required sensor resolution for a specified positional error range. The results indicate that the need for identifiable landmarks may be greatly reduced, while the use of local reference frames could facilitate symbolic processing of path data.