HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Constant Angular Velocity Regulation for Visually Guided Terrain Following

Huatian Wang 1 Qinbing Fu 1, 2 Hongxin Wang 1 Jigen Peng 2 Shigang Yue 1, 2
1 University of Lincoln
2 Guangzhou University
Abstract : Insects use visual cues to control their flight behaviours. By estimating the angular velocity of the visual stimuli and regulating it to a constant value, honeybees can perform a terrain following task which keeps the certain height above the undulated ground. For mimicking this behaviour in a bio-plausible computation structure, this paper presents a new angular velocity decoding model based on the honeybee’s behavioural experiments. The model consists of three parts, the texture estimation layer for spatial information extraction, the motion detection layer for temporal information extraction and the decoding layer combining information from pervious layers to estimate the angular velocity. Compared to previous methods on this field, the proposed model produces responses largely independent of the spatial frequency and contrast in grating experiments. The angular velocity based control scheme is proposed to implement the model into a bee simulated by the game engine Unity. The perfect terrain following above patterned ground and successfully flying over irregular textured terrain show its potential for micro unmanned aerial vehicles’ terrain following.
Keywords : Insect vision Flight control Angular velocity Terrain following
Document type :
Conference papers
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download
https://hal.inria.fr/hal-02331325
Contributor : Hal Ifip Connect in order to contact the contributor
Submitted on : Thursday, October 24, 2019 - 12:51:15 PM
Last modification on : Thursday, October 24, 2019 - 12:54:39 PM
Long-term archiving on: : Saturday, January 25, 2020 - 3:30:47 PM

File

Vignette du document
483292_1_En_50_Chapter.pdf
Files produced by the author(s)

Licence

Distributed under a Creative Commons Attribution 4.0 International License

Identifiers

Collections

IFIP | IFIP-AICT | IFIP-AICT-559 | IFIP-AIAI | IFIP-TC12 | IFIP-TC | IFIP-WG12-5 | IFIP-WG

Citation

Huatian Wang, Qinbing Fu, Hongxin Wang, Jigen Peng, Shigang Yue. Constant Angular Velocity Regulation for Visually Guided Terrain Following. 15th IFIP International Conference on Artificial Intelligence Applications and Innovations (AIAI), May 2019, Hersonissos, Greece. pp.597-608, ⟨10.1007/978-3-030-19823-7_50⟩. ⟨hal-02331325⟩

Export

BibTeX TEI DC DCterms EndNote Datacite

Share

Metrics

Record views

14

Files downloads

1

 

Contact                    Legal Notice                    Personal Data