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首页> 外文期刊>International Journal of Advanced Robotic Systems >Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments:
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Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments:

机译：凝视盘旋：一种在拒绝GPS的环境中实施基于跳音的基于导航的新策略：

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摘要

Hovering flies are able to stay still in place when hovering above flowers and burst into movement towards a new object of interest (a target). This suggests that sensorimotor control loops implemented onboard could be usefully mimicked for controlling Unmanned Aerial Vehicles (UAVs). In this study, the fundamental head-body movements occurring in free-flying insects was simulated in a sighted twin-engine robot with a mechanical decoupling inserted between its eye (or gaze) and its body. The robot based on this gaze control system achieved robust and accurate hovering performances, without an accelerometer, over a ground target despite a narrow eye field of view (?±5?°). The gaze stabilization strategy validated under Processor-In-the-Loop (PIL) and inspired by three biological Oculomotor Reflexes (ORs) enables the aerial robot to lock its gaze onto a fixed target regardless of its roll angle. In addition, the gaze control mechanism allows the robot to perform short range target to target navigation by triggering an automatic fast a??target jumpa?? behaviour based on a saccadic eye movement.
机译：当悬停在花朵上方并朝着新的关注对象（目标）移动时，悬停的苍蝇能够保持原状。这表明，可以有效地模拟机载实施的感觉运动控制环，以控制无人机（UAV）。在这项研究中，自由目视的昆虫发生的基本头身运动是在一个目视双引擎机器人中模拟的，该机器人在眼睛（或凝视）和身体之间插入了机械解耦器。基于这种注视控制系统的机器人尽管视野很窄（±5°），但在没有加速度计的情况下仍能在地面目标上实现稳定而精确的悬停性能。视线稳定策略在“处理器在环”（PIL）下得到验证，并受到三个生物动眼动反射（OR）的启发，使空中机器人可以将其视线锁定在固定目标上，而不管其侧倾角如何。另外，凝视控制机制允许机器人通过触发自动快速的“目标跳跃”来执行近距离目标到目标的导航。基于眼球运动的行为。

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