Journal
IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
Volume 9, Issue 3, Pages 241-254Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCDS.2016.2574624
Keywords
Autonomous robot; bioinspired; collision avoidance; embedded system; lobula giant movement detector (LGMD); low-cost
Funding
- EU FP7 under Project LIVCODE [295151]
- Project HAZCEPT [318907]
- HORIZON 2020 under Project STEP2DYNA [691154]
- National Natural Science Foundation of China [51335004]
- 973 National Basic Research Program of China [2011CB013301]
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In this paper, we present a new bio-inspired vision system embedded for micro-robots. The vision system takes inspiration from locusts in detecting fast approaching objects. Neurophysiological research suggested that locusts use a wide-field visual neuron called lobula giant movement detector (LGMD) to respond to imminent collisions. In this paper, we present the implementation of the selected neuron model by a low-cost ARM processor as part of a composite vision module. As the first embedded LGMD vision module fits to a micro-robot, the developed system performs all image acquisition and processing independently. The vision module is placed on top of a micro-robot to initiate obstacle avoidance behavior autonomously. Both simulation and real-world experiments were carried out to test the reliability and robustness of the vision system. The results of the experiments with different scenarios demonstrated the potential of the bio-inspired vision system as a low-cost embedded module for autonomous robots.
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