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首页> 外文会议>Conference on sensor fusion and decentralized control in robotic system >Collision avoidance in a robot using looming detectors from a locust
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Collision avoidance in a robot using looming detectors from a locust

机译：使用蝗虫的隐身探测器在机器人中避免碰撞

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The superb aerial performance of flying insects is acheived with comparatively simple neural machinery. We have been investigating the pathway in the locust visual system that signals the rapid approach of an object towards the eye. Two identified neurons have been shown to respond selectively to the images of an object approaching the locust's eye. A neural network based on the input organisation of these neurons responds directionally when challenged with approaching and receding objects and reveals the inportance of a critical race, between excitation passing down the network and inhibition directed laterally, for the rapid-up of excitation in response to approaching objects. The strongest response is given to an object approaching on a collision course with the eye, when collision is imminent. Like the neurons, the network is tightly tuned to a collision trajectory. We have incorporated this network into the control structure of a small mobile Kephera robot using the IQR 4-21 software we developed. The network responds to looming motion and is effective at evoking avoidance manoeuvres in the robot, moving at speeds from 1-12.5 cm/s. Our aim is to use the circuit as an artificial looming detector for use in moving vehicles.
机译：借助相对简单的神经机制，即可实现飞行昆虫的出色空中性能。我们一直在研究蝗虫视觉系统中的信号通路，该信号通路指示着物体快速靠近眼睛。已经显示出两个已识别的神经元对接近蝗虫眼睛的物体的图像做出选择性反应。基于这些神经元的输入组织的神经网络在受到接近和后退物体的挑战时会做出定向反应，并揭示了临界种族的重要性，即在通过网络的激励与横向定向的抑制之间，响应于接近物体。当即将发生碰撞时，对用眼睛接近碰撞路线的物体给出最强的响应。像神经元一样，网络也紧紧地调整到了碰撞轨迹。我们使用我们开发的IQR 4-21软件将该网络整合到小型移动Kephera机器人的控制结构中。该网络对迫在眉睫的运动做出了响应，并有效地激​​发了机器人中的回避动作，其移动速度为1-12.5 cm / s。我们的目标是将电路用作移动车辆中的人造迫在眉睫的检测器。

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