Linked local visual navigation and robustness to motor noise and route displacement

Abstract

This paper presents an investigation into the robustness to motor noise of an insect-inspired visual navigation method that links together local view-based navigation in a series of visual locales automatically defined by the method. The method is tested in the real world using specialist robotic equipment that allows a controllable level of motor noise to be used. Extensions to the method, which can improve its robustness to severe motor noise and to major disruptions such as being displaced along its route, are investigated. © 2008 Springer-Verlag Berlin Heidelberg.