A H∞ loopshaping approach for autonomous bio-inspired visual navigation in three-dimensional urban environments

The insect visuomotor system combines a lightweight and high bandwidth sensor with fast processing algorithms for efficient information extraction that enables autonomous navigation in complex, obstacle laden environments. In this paper, an H∞ loop shaping controller synthesis framework is introduced to analyze an information extraction approach from patterns of optic flow based on analogs of wide field motion sensitive interneurons in the insect visuomotor system. Local proximity and velocity estimates are obtained with an optic flow model that is based on parameterization of typical three-dimensional urban environments. The insect inspired visual navigation technique combines proximity and speed estimates with an H∞ controller that provides robust stability in a cluttered environment as well as mitigates measurement noise and gusts. The loop shaping approach is used to demonstrate safe obstacle avoidance and terrain following behavior in simulation on an autonomous helicopter miro-airvehicle for an urban-like environment subjected to gusts.