Analysis on Occlusion Problem of Landmark-based Homing Navigation Methods

摘要

Autonomous navigating algorithms for mobile robots have been proved to be a difficult task. Based on the excellent homing performance shown by many insects, bio-inspired navigation algorithms for robotic experiments have been widely researched and applied to the design of navigational strategies for mobile robots. In this paper, among them, we analyze two simple landmark navigation methods their strengths and limits. We investigate the effect of the occlusion problem mainly, which is an important yet tough problem in many landmark navigation algorithms. In the point of view of the error of homing vector and the performance of the homing paths in the environment with artificial occlusions, we investigate the effect of occlusion problem in both methods in order to further study on solutions.