Skip to Main content Skip to Navigation
Conference papers

An LGMD Based Competitive Collision Avoidance Strategy for UAV

Abstract : Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of miles without collision. In the locust’s brain, a visual pathway of LGMD-DCMD (lobula giant movement detector and descending contra-lateral motion detector) has been identified as collision perception system guiding fast collision avoidance for locusts, which is ideal for designing artificial vision systems. However, there is very few works investigating its potential in real-world UAV applications. In this paper, we present an LGMD based competitive collision avoidance method for UAV indoor navigation. Compared to previous works, we divided the UAV’s field of view into four subfields each handled by an LGMD neuron. Therefore, four individual competitive LGMDs (C-LGMD) compete for guiding the directional collision avoidance of UAV. With more degrees of freedom compared to ground robots and vehicles, the UAV can escape from collision along four cardinal directions (e.g. the object approaching from the left-side triggers a rightward shifting of the UAV). Our proposed method has been validated by both simulations and real-time quadcopter arena experiments.
Document type :
Conference papers
Complete list of metadata

Cited literature [31 references]  Display  Hide  Download

https://hal.inria.fr/hal-02331342
Contributor : Hal Ifip <>
Submitted on : Thursday, October 24, 2019 - 12:52:02 PM
Last modification on : Thursday, October 24, 2019 - 12:54:34 PM
Long-term archiving on: : Saturday, January 25, 2020 - 3:13:38 PM

File

 Restricted access
To satisfy the distribution rights of the publisher, the document is embargoed until : 2022-01-01

Please log in to resquest access to the document

Licence


Distributed under a Creative Commons Attribution 4.0 International License

Identifiers

Citation

Jiannan Zhao, Xingzao Ma, Qinbing Fu, Cheng Hu, Shigang Yue. An LGMD Based Competitive Collision Avoidance Strategy for UAV. 15th IFIP International Conference on Artificial Intelligence Applications and Innovations (AIAI), May 2019, Hersonissos, Greece. pp.80-91, ⟨10.1007/978-3-030-19823-7_6⟩. ⟨hal-02331342⟩

Share

Metrics

Record views

70