Biomimetic Autopilot Based on Minimalistic Motion Vision for Navigating along Corridors Comprising U-shaped and S-shaped Turns  

作　　者：Julien R. Serres Franck Ruffier 

机构地区：[1]Aix-Marseille UniversitY, CNRS, ISM UMR 7287, Biorobotics Lab, 13288, Marseille Cedex 09, France

出　　处：《Journal of Bionic Engineering》2015年第1期47-60,共14页仿生工程学报（英文版）

摘　　要：A bioinspired autopilot is presented, in which body saccadic and intersaceadic systems are combined. This autopilot en- ables a simulated hovercraft to travel along corridors comprising L-junctions, U-shaped and S-shaped turns, relying on mini- realistic motion vision cues alone without measuring its speed or distance from walls, in much the same way as flies and bees manage their flight in similar situations. The saccadic system responsible for avoiding frontal collisions triggers yawing body saccades with appropriately quantified angles based simply on a few local optic flow measurements, giving the angle of inci- dence with respect to a frontal wall. The simulated robot negotiates stiff bends by triggering body saccades to realign its tra- jectory, thus traveling parallel with the wall along a corridor comprising sharp turns. Direct comparison shows that the per- formance of this new body saccade-based autopilot closely resembles the behavior of a fly using similar body saccade strategy when flying along a corridor with an S-shaped turn, despite the huge differences in terms of the inertia.A bioinspired autopilot is presented, in which body saccadic and intersaceadic systems are combined. This autopilot en- ables a simulated hovercraft to travel along corridors comprising L-junctions, U-shaped and S-shaped turns, relying on mini- realistic motion vision cues alone without measuring its speed or distance from walls, in much the same way as flies and bees manage their flight in similar situations. The saccadic system responsible for avoiding frontal collisions triggers yawing body saccades with appropriately quantified angles based simply on a few local optic flow measurements, giving the angle of inci- dence with respect to a frontal wall. The simulated robot negotiates stiff bends by triggering body saccades to realign its tra- jectory, thus traveling parallel with the wall along a corridor comprising sharp turns. Direct comparison shows that the per- formance of this new body saccade-based autopilot closely resembles the behavior of a fly using similar body saccade strategy when flying along a corridor with an S-shaped turn, despite the huge differences in terms of the inertia.

关 键 词：optic flow collision avoidance body saccades insect flight BIOROBOTICS biomimetics 

分 类 号：U448.112.5[建筑科学—桥梁与隧道工程] TJ765.2[交通运输工程—道路与铁道工程]