NDLI: A hovercraft robot that uses insect-inspired visual autocorrelation for motion control in a corridor

Content Provider	IEEE Xplore Digital Library
Author	Fuller, S.B. Murray, R.M.
Copyright Year	2011
Description	Author affiliation: Faculty of Control and Dynamical Systems, California Institute of Technology, 1200 East California Blvd., Pasadena, CA 91125, USA (Murray, R.M.) \|\| Department of Bioengineering and Dynamical Systems, California Institute of Technology, 1200 East California Blvd., Pasadena, CA 91125, USA (Fuller, S.B.)
Abstract	In this paper we are concerned with the challenge of flight control of computationally-constrained micro-aerial vehicles that must rely primarily on vision to navigate confined spaces. We turn to insects for inspiration. We demonstrate that it is possible to control a robot with inertial, flight-like dynamics in the plane using insect-inspired visual autocor-relators or “elementary motion detectors” (EMDs) to detect patterns of visual optic flow. The controller, which requires minimal computation, receives visual information from a small omnidirectional array of visual sensors and computes thrust outputs for a fan pair to stabilize motion along the centerline of a corridor. To design the controller, we provide a frequency-domain analysis of the response of an array of correlators to a flat moving wall. The model incorporates the effects of motion parallax and perspective and provides a means for computing appropriate inter-sensor angular spacing and visual blurring. The controller estimates the state of robot motion by decomposing the correlator response into harmonics, an analogous operation to that performed by tangential cells in the fly. This work constitutes the first-known demonstration of control of non-kinematic inertial dynamics using purely correlators.
Starting Page	1474
Ending Page	1481
File Size	1069165
Page Count	8
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181498
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Correlators Robots Visualization Retina Sensors Vehicles Harmonic analysis
Content Type	Text
Resource Type	Article

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