%0 Conference Proceedings
%T Constant Angular Velocity Regulation for Visually Guided Terrain Following
%+ University of Lincoln [UK]
%+ Guangzhou University
%A Wang, Huatian
%A Fu, Qinbing
%A Wang, Hongxin
%A Peng, Jigen
%A Yue, Shigang
%Z Part 12: Nature Inspired Flight and Robot Control - Machine Vision
%< avec comité de lecture
%( IFIP Advances in Information and Communication Technology
%B 15th IFIP International Conference on Artificial Intelligence Applications and Innovations (AIAI)
%C Hersonissos, Greece
%Y John MacIntyre
%Y Ilias Maglogiannis
%Y Lazaros Iliadis
%Y Elias Pimenidis
%I Springer International Publishing
%3 Artificial Intelligence Applications and Innovations
%V AICT-559
%P 597-608
%8 2019-05-24
%D 2019
%R 10.1007/978-3-030-19823-7_50
%K Insect vision
%K Flight control
%K Angular velocity
%K Terrain following
%Z Computer Science [cs]Conference papers
%X Insects use visual cues to control their flight behaviours. By estimating the angular velocity of the visual stimuli and regulating it to a constant value, honeybees can perform a terrain following task which keeps the certain height above the undulated ground. For mimicking this behaviour in a bio-plausible computation structure, this paper presents a new angular velocity decoding model based on the honeybee’s behavioural experiments. The model consists of three parts, the texture estimation layer for spatial information extraction, the motion detection layer for temporal information extraction and the decoding layer combining information from pervious layers to estimate the angular velocity. Compared to previous methods on this field, the proposed model produces responses largely independent of the spatial frequency and contrast in grating experiments. The angular velocity based control scheme is proposed to implement the model into a bee simulated by the game engine Unity. The perfect terrain following above patterned ground and successfully flying over irregular textured terrain show its potential for micro unmanned aerial vehicles’ terrain following.
%G English
%Z TC 12
%Z WG 12.5
%2 https://inria.hal.science/hal-02331325/document
%2 https://inria.hal.science/hal-02331325/file/483292_1_En_50_Chapter.pdf
%L hal-02331325
%U https://inria.hal.science/hal-02331325
%~ IFIP
%~ IFIP-AICT
%~ IFIP-TC
%~ IFIP-WG
%~ IFIP-TC12
%~ IFIP-AIAI
%~ IFIP-WG12-5
%~ IFIP-AICT-559