Abstract
A scheme is presented that uses the self-motion of a robot, equipped with a single visual sensor, to navigate in a safe manner. The motion strategy used is modelled on the motion of insects that effectively have a single eye and must move in order to determine range. The essence of the strategy is to employ a zigzag motion in order to (a) estimate the range to objects and (b) know the safe distance of travel in the present direction. An example is presented of a laboratory robot moving in a cluttered environment. The results show that this motion strategy can be successfully employed in an autonomous robot to avoid collisions.
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Sobey, P.J. Active navigation with a monocular robot. Biol. Cybern. 71, 433–440 (1994). https://doi.org/10.1007/BF00198919
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DOI: https://doi.org/10.1007/BF00198919