A Bio-Inspired Model for Visual Collision Avoidance on a Hexapod Walking Robot

被引：9

作者：

Meyer, Hanno Gerd ^{[1
]}

Bertrand, Olivier J. N. ^{[2
,3
]}

Paskarbeit, Jan ^{[1
]}

Lindemann, Jens Peter ^{[2
,3
]}

Schneider, Axel ^{[1
,4
]}

Egelhaaf, Martin ^{[2
,3
]}

机构：

[1] Univ Bielefeld, Biomechatron, Ctr Excellence Cognit Interact Technol CITEC, D-33615 Bielefeld, Germany

[2] Univ Bielefeld, Ctr Excellence Cognit Interact Technol CITEC, D-33615 Bielefeld, Germany

[3] Univ Bielefeld, Dept Neurobiol, D-33615 Bielefeld, Germany

[4] Univ Appl Sci, Fac Engn & Math, Embedded Syst & Biomechatron Grp, Bielefeld, Germany

来源：

BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016 | 2016年 / 9793卷

关键词：

Biorobotics; Bio-inspired vision; Collision avoidance; Optic flow; Elementary motion detector; EYE;

D O I：

10.1007/978-3-319-42417-0_16

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

While navigating their environments it is essential for autonomous mobile robots to actively avoid collisions with obstacles. Flying insects perform this behavioural task with ease relying mainly on information the visual system provides. Here we implement a bio-inspired collision avoidance algorithm based on the extraction of nearness information from visual motion on the hexapod walking robot platform HECTOR. The algorithm allows HECTOR to navigate cluttered environments while actively avoiding obstacles.

引用

页码：167 / 178

页数：12

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