Bio-inspired optical flow circuits for the visual guidance of micro-air vehicles

被引：0

作者：

Ruffier, F ^{[1
]}

Viollet, S ^{[1
]}

Amic, S ^{[1
]}

Franceschini, N ^{[1
]}

机构：

[1] Univ Aix Marseille 2, CNRS, Biorobot Movement & Percept Lab, F-13402 Marseille 20, France

来源：

PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS, VOL III: GENERAL & NONLINEAR CIRCUITS AND SYSTEMS | 2003年

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In the framework of our research on biologically inspired microrobotics, we have developed a visually based autopilot for Micro Air Vehicles (MAV), which we have called OCTAVE (Optical altitude Control sysTem for Autonomous VEhicles). Here, we show the feasibility of a joint altitude and speed control system based on a low complexity optronic velocity sensor that estimates the optic flow in the downward direction. This velocity sensor draws on electrophysiological findings on the fly Elementary Motion Detectors (EMDs) obtained at our laboratory. We built an elementary, 100-gram tethered helicopter system that carries out terrain following above a randomly textured ground. The overall processing system is light enough to be mounted on-board MAVs with an avionic payload of only some grams.

引用

页码：846 / 849

页数：4

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