Adaptation of Controllers for Image-Based Homing  

Oleh:

Zampoglou, Markos ; Szenher, Matthew ; Webb, Barbara

Jenis: Article from Journal - e-Journal
Dalam koleksi: Adaptive Behavior vol. 14 no. 4 (Dec. 2006), page 381–399.
Topik: homing; taxis; image difference
Fulltext: 381.pdf (487.41KB)

Isi artikel

Visual homing is a short-range robot navigation method which can lead an agent to a position with accuracy, provided that the majority of the scene visible from the home position is also visible from the current robot position. Recently Zeil, Hoffmann and Chahl (2003) showed that a simple calculation— the root mean square (RMS) difference between the current image and the home image—produces a monotonic function leading to the home position for natural images. In this article we propose a gradient descent algorithm based on Caenorhabditis elegans chemotaxis (Ferree & Lockery, 1999) for homing with the RMS signal. The parameters for this algorithm are evolved for a simulated agent, and the resulting homing behavior compared with alternative algorithms in simulation and using a real robot. A simulated agent using this algorithm in an environment constructed from real world images homes efficiently and shows generalization to variations in lighting and changes in the scene. In the real robot this algorithm is affected by noise resulting from imperfect sensors, and alternative algorithms appear more robust. However, the best performing algorithm for unchanging environments, image warping (Franz, Schölkopf, Mallot, & Bülthoff, 1998), is completely disabled by scene changes that do not affect algorithms utilizing the RMS difference.

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