Simple, Yet Stable Bearing-Only Navigation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00169204" target="_blank" >RIV/68407700:21230/10:00169204 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Simple, Yet Stable Bearing-Only Navigation
Original language description
This article describes a simple monocular navigation system for a mobile robot based on the map-and-replay technique. The presented method is robust, easy to implement, does not require sensor calibration or structured environment and its computational complexity is independent of the environment size. The method can navigate a robot while sensing only one landmark at a time, making it more robust than other monocular approaches. The aforementioned properties of the method allow even low-cost robots toeffectively act in large outdoor and indoor environments with natural landmarks only. The basic idea is to utilize a monocular vision to correct only the robot's heading and leaving distance measurements just to the odometry. The heading correction itself can suppress the odometric error and prevent the overall position error from diverging. The influence of a map-based heading estimation and odometric errors on the overall position uncertainty is examined.
Czech name
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Czech description
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Project
<a href="/en/project/2C06005" target="_blank" >2C06005: A System for robotic e-learning</a>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP) Z - Vyzkumny zamer (s odkazem do CEZ) S - Specificky vyzkum na vysokych skolach R - Projekt Ramcoveho programu EK

Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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