Journal
AUTONOMOUS ROBOTS
Volume 27, Issue 3, Pages 189-198Publisher
SPRINGER
DOI: 10.1007/s10514-009-9140-0
Keywords
Optic flow; Vision-based control; Wide-field integration; Autonomous; Micro air vehicle
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Insects are capable of robust visual navigation in complex environments using efficient information extraction and processing approaches. This paper presents an implementation of insect inspired visual navigation that uses spatial decompositions of the instantaneous optic flow to extract local proximity information. The approach is demonstrated in a corridor environment on an autonomous quadrotor micro-air-vehicle (MAV) where all the sensing and processing, including altitude, attitude, and outer loop control is performed on-board. The resulting methodology has the advantages of computation speed and simplicity, hence are consistent with the stringent size, weight, and power requirements of MAVs.
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