Qualitative homing III: the effect of inexact landmark bearings

摘要

Abstract: In the two-frame homing problem addressed by this paper, a robot is given (1) the bearings of the landmarks at the robot's current location, (2) the bearings of the landmarks at the target location and (3) the correspondences between landmarks across the two locations; it is required to make an admissible movement - one that takes it closer to the target location. Previous papers have described how to carry out homing when landmark bearings are exactly known (even when some landmark correspondences are incorrect). This paper extends these results to the case where landmark bearings are not measured exactly, but only within a bounded tolerance. An algorithm for computing admissible movements from inexact landmarks is given; this algorithm is provably correct and optimal. The effect of inexact landmark bearings on the robot's ability to detect inconsistent landmark correspondences is discussed.!12