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Steering without representation with the use of active fixation
D W Murray1, I D Reid, A J Davison
1Department of Engineering Science, University of Oxford, UK. david.murray@eng.ox.ac.uk
Perception
|January 1, 1997
Summary
This study shows a new steering rule for robot vehicles using visual fixation, which may also explain human driving behavior on winding roads.
Area of Science:
- Robotics
- Computer Vision
- Human Motor Control
Background:
- Human drivers fixate on the tangent point of road bends.
- Existing models propose quadratic rules for steering based on visual cues.
Purpose of the Study:
- To demonstrate a proportional steering rule for robot vehicles using active fixation.
- To propose this rule as an alternative explanation for human steering behavior.
Main Methods:
- Guiding a robot vehicle using active fixation on fixed and moving points.
- Developing a steering rule proportional to gaze deviation from translation direction.
Main Results:
- The proportional steering rule effectively guided the robot vehicle.
- The rule showed applicability to human steering performance data.
Conclusions:
- Active fixation and a proportional steering rule offer a viable method for robot navigation.
- This approach provides an alternative to existing models for explaining human steering on winding roads.