Adaptive Route Memory Sequences for Insect-Inspired Visual Route Navigation

Abstract

Visual navigation is a key capability for robots and animals. Inspired by the navigational prowess of social insects, a family of insect-inspired route navigation algorithms—familiarity-based algorithms—have been developed that use stored panoramic images collected during a training route to subsequently derive directional information during route recapitulation. However, unlike the ants that inspire them, these algorithms ignore the sequence in which the training images are acquired so that all temporal information/correlation is lost. In this paper, the benefits of incorporating sequence information in familiarity-based algorithms are tested. To do this, instead of comparing a test view to all the training route images, a window of memories is used to restrict the number of comparisons that need to be made. As ants are able to visually navigate when odometric information is removed, the window position is updated via visual matching information only and not odometry. The performance of an algorithm without sequence information is compared to the performance of window methods with different fixed lengths as well as a method that adapts the window size dynamically. All algorithms were benchmarked on a simulation of an environment used for ant navigation experiments and showed that sequence information can boost performance and reduce computation. A detailed analysis of successes and failures highlights the interaction between the length of the route memory sequence and environment type and shows the benefits of an adaptive method.