Behavior-Oriented Vision for Biomimetic Flight Control

نویسندگان

  • Titus R. Neumann
  • Heinrich H. Bülthoff
چکیده

Most flying insects extract information about their spatial orientation and self-motion from visual cues such as global patterns of light intensity or optic flow. We present an insect-inspired neuronal filter model and show how optimal receptive fields for the detection of flight-relevant input patterns can be derived directly from the local receptor signals during typical flight behavior. Using a least squares principle, the receptive fields are optimally adapted to all behaviorally relevant, invariant properties of the agent and the environment. In closed-loop simulations in a highly realistic virtual environment we show that four independent, purely reactive mechanisms based on optimized receptive fields for attitude control, course stabilization, obstacle avoidance and altitude control, are sufficient for a fully autonomous and robust flight stabilization with all six degrees of freedom.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Biomimetic Sensor Modeling and Simulations for Flight Control of a Micromechanical Flying Insect

Biomimetic Sensor Modeling and Simulations for Flight Control of a Micromechanical Flying Insect

متن کامل

Automatic tuning of a behavior-based guidance algorithm for formation flight of quadrotors

This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. In this paper optimization techniques are utilized to tune the parameters of a behavior-bas...

متن کامل

Biomimetic sensor suite for flight control of a micromechanical flying insect: design and experimental results

Four prototypes of biomimetic sensors have been designed and implemented for flight control of a robotic flying insect. The ocelli use four photodiodes to detect changes in light intensity in the surrounding. The halteres use piezoactuated vibrating structures to sense body rotational velocities via the Coriolis forces. The optic flow sensors consist of linear arrays of elementary motion detect...

متن کامل

Biomimetic Visual Sensing and Flight Control

There is increased interest in new classes of miniand micro-UAVs with sizes ranging from one meter to ten centimeters. Many envisioned applications of such UAVs require them to be able to fly close to the ground in complex environments. The difficulties associated with flying in such environments coupled with the reduced payload capacity of such airframes means that new methods of sensing and c...

متن کامل

Stress Analysis of Flight Vehicles under Flight Conditions

A method is presented for the stress analysis of flight vehicles under different flight conditions including gust and control surface deflection (or maneuver) using the governing equations of rigid-body motions and elastic deformations. The Lagrangian approach is used to derive the governing equations of motions. For this purpose, the basic equations of motions are derived in terms of potential...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2002