Bio-Inspired Visual Navigation for a Quadcopter using Optic Flow

摘要

Small Unmanned Air Vehicles (UAVs) have become increasingly used in many fields to keep up with demands for technological growth and due to their unique ability to provide an “eye-in-the-sky”. However, traditional guidance systems are not always suitable for a transition to smaller UAVs. Honeybee navigation has long been proposed as a basis for developing navigation for robotics as they are known to solve complex tasks efficiently and robustly. An approach for bio-inspired navigation using optic flow is presented here based on honeybee reactive flight control. This approach is tested and verified in the benchmark hallway navigation problem. It is shown that the control approach can explain a wide-range of biological behaviors using minimal sensors similar to flying insects.