Evaluation of egocentric navigation methods

摘要

In describing routes humans make use of egocentric references to landmarks. In this paper two different egocentric navigation algorithms are introduced and possible variations of these algorithms are compared. These algorithms make use of solely angular distribution information of landmarks around the robot. Possible improvements and uses of these algorithms are discussed. In the evaluation of these algorithms computer simulations are used. The result of this work is expected to provide pointers for the ongoing research which aims to address navigation of robots based on qualitative interaction between humans and robots.