Egocentric Direction and the Visual Guidance of Robot Locomotion Background, Theory and Implementation
作者： Simon K. Rushton , Jia Wen , Robert S. Allison
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摘要: In this paper we describe the motivation, design and implementation of a system to visually guide locomoting robot towards target around obstacles. The work was inspired by recent suggestion that walking humans rely on perceived egocentric direction rather than optic flow locomotion target. We briefly summarise human experimental then illustrate how based heuristics can be used in visual guidance locomotion. also identify perceptual variables could detection obstacles control law for regulation obstacle avoidance. simulations demonstrate utility approach these laws Nomad mobile robot. conclude our simple biologically solution produces robust behaviour proves very promising approach.
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