Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments
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,...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2014-04-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/58429 |
| _version_ | 1819115661605994496 |
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| author | Augustin Manecy Nicolas Marchand Stéphane Viollet |
| author_facet | Augustin Manecy Nicolas Marchand Stéphane Viollet |
| author_sort | Augustin Manecy |
| collection | DOAJ |
| description | 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 “target jump” behaviour based on a saccadic eye movement. |
| first_indexed | 2024-12-22T05:04:45Z |
| format | Article |
| id | doaj.art-ab10c2efc0cf4ed4b65531a8ab73d033 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-22T05:04:45Z |
| publishDate | 2014-04-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-ab10c2efc0cf4ed4b65531a8ab73d0332022-12-21T18:38:09ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-04-011110.5772/5842910.5772_58429Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied EnvironmentsAugustin Manecy0Nicolas Marchand1Stéphane Viollet2 CNRS, France CNRS, France CNRS, FranceHovering 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 “target jump” behaviour based on a saccadic eye movement.https://doi.org/10.5772/58429 |
| spellingShingle | Augustin Manecy Nicolas Marchand Stéphane Viollet Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments International Journal of Advanced Robotic Systems |
| title | Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments |
| title_full | Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments |
| title_fullStr | Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments |
| title_full_unstemmed | Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments |
| title_short | Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments |
| title_sort | hovering by gazing a novel strategy for implementing saccadic flight based navigation in gps denied environments |
| url | https://doi.org/10.5772/58429 |
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