Autonomous robot's navigation

Since October 2007 I developed new object recognition algorithm "Associative Video Memory" (AVM). http://edv-detail.narod.ru/AVM_main.html
Algorithm AVM uses a principle of multilevel decomposition of recognition matrices, it is steady against noise of the camera and well scaled, simply and quickly for training.
And now I want to introduce my experiment with robot navigation based on visual landmark beacons: "Follow me" and "Walking by gates".
Follow Me
http://www.youtube.com/watch?v=HTxNlOpm11U

Walking from p2 to p1 and back
http://www.youtube.com/watch?v=xbCpthKrL0o

I embodied both algorithms to Navigator plugin for using within RoboRealm software. http://www.roborealm.com/help/AVM_Navigator.php
So, you can try now to review my experiments with using AVM Navigator.
The Navigator module has two base algorithms:
-= Follow me =- The navigation algorithm do attempts to align position of a tower and the body of robot on the center of the first recognized object in the list of tracking and if the object is far will come nearer and if it is too close it will be rolled away back.
-= Walking by gates =- The gate data contains weights for the seven routes that indicate importance of this gateway for each route. At the bottom of the screen was added indicator "horizon" which shows direction for adjust the robot's motion for further movement on the route. Field of gates is painted blue if the gates do not participate in this route (weight rate 0), and warmer colors (ending in yellow) show a gradation of "importance" of the gate in the current route.
* The procedure of training on route For training of the route you have to indicate actual route (button "Walking by way") in "Nova gate" mode and then you must drive the robot manually by route (the gates will be installed automatically). In the end of the route you must click on the button "Set checkpoint" and then robot will turn several times on one spot and mark his current location as a checkpoint.
So, if robot will walk by gates and suddenly will have seen some object that can be recognized then robot will navigate by the "follow me" algorithm.
If robot can't recognize anything (gate/object) then robot will be turning around on the spot for searching (it may twitch from time to time in a random way).
For more information see also thread: "Autonomous robot's navigation" at Trossen Robotics. http://forums.trossenrobotics.com/showthread.php?t510
Now AVM Navigator v0.7 is released and you can download it from RoboRealm website. http://www.roborealm.com/help/AVM_Navigator.php
In new version is added two modes: "Marker mode" and "Navigate by map".
Marker mode
http://www.roborealm.com/help/Navigator_wnd_4.png
Marker mode provides a forming of navigation map that will be made automatically by space marking. You just should manually lead the robot along some path and repeat it several times for good map detailing.
Navigation by map
http://www.roborealm.com/help/Navigator_wnd_5.png
In this mode you should point the target position at the navigation map and further the robot plans the path (maze solving) from current location to the target position (big green circle) and then robot begins automatically walking to the target position.
http://www.roborealm.com/help/Navigation_map_2.png
For external control of "Navigate by map" mode is added new module variables:
NV_LOCATION_X - current location X coordinate; NV_LOCATION_Y - current location Y coordinate; NV_LOCATION_ANGLE - horizontal angle of robot in current location (in radians);
Target position at the navigation map NV_IN_TRG_POS_X - target position X coordinate; NV_IN_TRG_POS_Y - target position Y coordinate;
NV_IN_SUBMIT_POS - submitting of target position (value should be set 0 -> 1 for action).
Examples:
Quake 3 Odometry Test
http://www.youtube.com/watch?v=9opAZYRsDxU

Navigation by map
http://www.youtube.com/watch?v=5qKQg5e4wbc

Visual Landmark Navigation
http://www.youtube.com/watch?v=WdfWt66rEsk

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On 05/05/2011 09:50 AM, EDV wrote:

Just wanted to say thanks for the post. I still haven't found time to dig through it, but this looks interesting and is in my bookmarks.
- Daniel
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EDV had written this in response to http://www.roboticscommunity.com/robotics/Re-Autonomous-robot-s-navigation-29513-.htm : I prepared emulator program (based on Quake 3 mod) for acquaintance with "Marker mode" and "Navigation by map" modes.
See "AVM Quake 3 mod" manual for more details: http://www.roborealm.com/help/AVM_Navigator/avm_q3mod_help.html
You can download it from: http://www.roborealm.com/help/AVM_Navigator/Setup_avm_q3mod.exe
Also next modification of AVM Navigator v0.7.2 is released: http://www.roborealm.com/help/AVM_Navigator.php
Changes:
- The "Navigation map" was placed into main Navigator dialog window (also was added map scrolling and resizing abilities).
- Visual odometry algorithm was improved.
And now you can download next modification of AVM Navigator v0.7.2 from RoboRealm website.
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It's test of new algorithm for AVM Navigator v0.7.3. In this video was demonstrated how robot just try to go back on checkpoint from different positions of the learned route.

http://www.youtube.com/watch?v=wj-FKhdaU5A

First in video the robot has received command: "go to the checkpoint" and when robot arrived to the checkpoint then I brought robot back (several times) in different position of learned route. When robot noticed the changes then it indicated that robot was displaced because any commands were not given by robot to his motors however changes were seen in the input image.
Then robot started looking around and localized his current position. Further the robot just calculated path from current position to the checkpoint and went there (and so forth).
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