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Abstract : |
Two computationally simple forms of dead reckoning were implemented in a physical robot (Khepera). The precision of homing was compared between both strategies for various environments in which obstacles were distributed in four different ways: regular, at random, clumped, and with walls. Counter intuitively, the computational more complex strategy did not perform better in general. Both strategies performed best in a regular environment. In a regular environment the simpler strategy (`counter turning') was even more precise than the more complex strategy (`retrace your trail'). On the other hand, Retrace-Your-Trail performed better than Counter-turning in the clumped environment., |
