An Insect Inspired Visual Sensor for the AutonomousNavigation of a Mobile
نویسنده
چکیده
This paper deals with the autonomous navigation of a mobile robot equipped with an insect-like visual sensor. The design of the sensor is based on models derived from the insect compound eyes that use optical ow information for navigation purposes. Restricting navigation to the ground-plane, we design a 1D panoramic sensor that performs parallel image processing and calculates local components of the optical ow. This information then is used to detect obstacles in the robot azimuth-plane so as to periodically update an obstacle map. With this map, we use a potential eld approach to drive an obstacle avoidance algorithm. Closing the visual navigation loop then reveals a reeex-like behaviour. Results are described and discussed.
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