Insect-Inspired Visual Navigation for Flying Robots

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• 关键词：Visual navigation ; Insect ; inspired robotics ; Visual homing ; UAVs ; Flying robots
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9793
• 期：1
• 页码：263-274
• 全文大小：14,360 KB
• 参考文献：1.Graham, P., Philippides, A.: Insect-inspired vision and visually guided behavior. In: Bhushan, B., Winbigler, H.D. (eds.) Encyclopedia of Nanotechnology, pp. 1122–1127. Springer, Netherlands (2015)
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  8.Collett, T.S., Graham, P., Harris, R.A., Hempel-De-Ibarra, N.: Navigational memories in ants and bees: memory retrieval when selecting and following routes. Adv. Study Behav. 36, 123–172 (2006)CrossRef
  9.Möller, R., Vardy, A.: Local visual homing by matched-filter descent in image distances. Biol. Cybern. 95, 413–430 (2006)MathSciNet CrossRef MATH
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  12.Smith, L., Philippides, A., Graham, P., Baddeley, B., Husbands, P.: Linked local navigation for visual route guidance. Adapt. Behav. 15, 257–271 (2007)CrossRef
  13.Smith, L., Philippides, A., Graham, P., Husbands, P.: Linked local visual navigation and robustness to motor noise and route displacement. In: Asada, M., Hallam, J.C.T., Meyer, J.-A., Tani, J. (eds.) SAB 2008. LNCS (LNAI), vol. 5040, pp. 179–188. Springer, Heidelberg (2008)CrossRef
  14.Baddeley, B., Graham, P., Husbands, P., Philippides, A.: A model of ant route navigation driven by scene familiarity. PLoS Comput. Biol. 8(1), e1002336 (2012)CrossRef
  15.Ardin, P., Peng, F., Mangan, M., Lagogiannis, K., Webb, B.: Using an insect mushroom body circuit to encode route memory in complex natural environments. PLoS Comput. Biol. 12(2), e1004683 (2016)CrossRef
  16.Kodzhabashev, A., Mangan, M.: Route following without scanning. In: Wilson, S.P., Verschure, P.F.M.J., Mura, A., Prescott, T.J. (eds.) Living Machines 2015. LNCS, vol. 9222, pp. 199–210. Springer, Heidelberg (2015)CrossRef
  17.Philippides, A., Baddeley, B., Cheng, K., Graham, P.: How might ants use panoramic views for route navigation? J. Exp. Biol. 214, 445–451 (2011)CrossRef
  18.Ardin, P., Mangan, M., Wystrach, A., Webb, B.: How variation in head pitch could affect image matching algorithms for ant navigation. J. Comp. Physiol. A. 201(6), 585–597 (2015)CrossRef
  19.Lulham, A., Bogacz, R., Vogt, S., Brown, M.W.: An infomax algorithm can perform both familiarity discrimination and feature extraction in a single network. Neural Comput. 23, 909–926 (2011)CrossRef
  
• 作者单位：Andrew Philippides (19)
  Nathan Steadman (19)
  Alex Dewar (20)
  Christopher Walker (19)
  Paul Graham (20)
  
  19. Department of Informatics, Centre for Computational Neuroscience and Robotics, University of Sussex, Brighton, UK
  20. School of Life Sciences, Centre for Computational Neuroscience and Robotics, University of Sussex, Brighton, UK
  
• 丛书名：Biomimetic and Biohybrid Systems
• ISBN：978-3-319-42417-0
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9793

文摘

This paper discusses the implementation of insect-inspired visual navigation strategies in flying robots, in particular focusing on the impact of changing height. We start by assessing the information available at different heights for visual homing in natural environments, comparing results from an open environment against one where trees and bushes are closer to the camera. We then test a route following algorithm using a gantry robot and show that a robot would be able to successfully navigate a route at a variety of heights using images saved at a different height.