OSCAR and OCTAVE : Two bio-inspired visually guided aerial micro-robots
نویسندگان
چکیده
In the framework of our research on biologically inspired microrobotics, we have developed two novel Automatic Flight Control Systems (AFCS): OCTAVE (Optical altitude Control sysTem for Autonomous VEhicles) and OSCAR (Optical Scanning sensor for the Control of Autonomous Robots), both based on insects’ visuomotor control systems. OCTAVE was tested and found to confer on a tethered aerial robot (the OCTAVE robot) the ability to perform terrain following. OSCAR gives a tethered aerial robot (the OSCAR robot) the ability to fixate and track a contrasting target with a high level of accuracy. Both OCTAVE and OSCAR robots are based on optical velocity sensors, the principle of which was based on previous electrophysiological studies on the fly’s Elementary Motion Detector (EMD) neurons performed at our laboratory. Both processing systems described are light enough to be mounted on-board Micro-Air-Vehicles (MAV) with an avionic payload small enough to be expressed in grams rather than kilograms.
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