Appearance-Based Multi-Robot Following Routes Using Incremental PCA
The appearance-based approach in visual robot navigation applied to the following of pre-recorded routes supposes several advantages, such as its application to non-structured environments and the relatively simple extraction of control laws. The classical approaches consist on two separated phases: learning and navigation, so, one robot cannot start navigation until learning has finished, and if some locations have to be added once learning has finished, the database must be created from the scratch. This work presents how an incremental PCA model can be used to overcome these limitations. With this approach, the follower robot can start while the database is still being built. Comparing the current view with those in the database, it can localize and navigate using a fuzzy controller. This approach can be applied to collaborative tasks where a team of robots must follow a guide one or in vigilance tasks where a route in a building has to be repeated continuously.