关键词: optic flow, collision avoidance, body saccades, insect flight, biorobotics, biomimetics

Abstract:

A bioinspired autopilot is presented, in which body saccadic and intersaccadic systems are combined. This autopilot en-ables a simulated hovercraft to travel along corridors comprising L-junctions, U-shaped and S-shaped turns, relying on mini-malistic motion vision cues alone without measuring its speed or distance from walls, in much the same way as flies and bees manage their flight in similar situations. The saccadic system responsible for avoiding frontal collisions triggers yawing body saccades with appropriately quantified angles based simply on a few local optic flow measurements, giving the angle of inci-dence with respect to a frontal wall. The simulated robot negotiates stiff bends by triggering body saccades to realign its tra-jectory, thus traveling parallel with the wall along a corridor comprising sharp turns. Direct comparison shows that the per-formance of this new body saccade-based autopilot closely resembles the behavior of a fly using similar body saccade strategy when flying along a corridor with an S-shaped turn, despite the huge differences in terms of the inertia.

Key words: optic flow, collision avoidance, body saccades, insect flight, biorobotics, biomimetics