Homing navigation based on path integration with optical flow

Youngseo Cha, Dae Eun Kim

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


There have been many homing navigation algorithms for robotic system. In this paper, we suggest a bio-inspired navigation model. It builds path integration based on optical flow. We consider two factors on robot movements, translational movement and rotational movement. For each movement, we found distinguishable optical flows. Based on optical flow, we estimate ego-centric robot movement and integrate the path optimally. We can determine the homing direction and distance. We test this algorithm and evaluate the performance of homing navigation for robotic system.

Original languageEnglish
Pages (from-to)94-102
Number of pages9
JournalJournal of Institute of Control, Robotics and Systems
Issue number2
Publication statusPublished - 2012 Feb

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Applied Mathematics


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