Insect-inspired robotic homing

Many animals, including insects, successfully engage in visual homing. We d escribe a system that allows a mobile robot to home. Specifically, we propo se a simple, pet robust, homing scheme that only relies upon the observatio n of the bearings of visible landmarks. However, this can easily be extende d to include other visual cues. The homing algorithm allows a mobile robot to home incrementally by moving in such a way as to gradually reduce the di screpancy between the current view and the view obtained from the home posi tion. Both simulation and mobile robot experiments are used to demonstrate the feasibility of the approach.