Fly-inspired visual steering of an ultralight indoor aircraft

被引：135

作者：

Zufferey, JC ^{[1
]}

Floreano, D ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, Lab Intelligent Syst, CH-1015 Lausanne, Switzerland

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2006年 / 22卷 / 01期

关键词：

collision avoidance; indoor flying robot; optic flow (OF); steering control;

D O I：

10.1109/TRO.2005.858857

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We aim at developing autonomous microflyers capable of navigating within houses or small indoor environments using vision as the principal source of information. Due to severe weight and energy constraints, inspiration is taken from the fly for the selection of sensors, for signal processing, and for the control strategy. The current 30-g prototype is capable of autonomous steering in a 16 x 16 m textured environment. This paper describes models and algorithms which allow for efficient course stabilization and collision avoidance using optic flow and inertial information.

引用

页码：137 / 146

页数：10

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