A honeybee's navigational toolkit on Board a Bio-inspired Micro Flying Robot

Abstract : In this paper, a 395-gram micro flying robot equipped with an insect-inspired visual system is presented. The robot's visual system was designed to make it avoid both ground and lateral obstacles, using optic flow-based regulation principles. The quadrotor is an open-hardware X4-MaG drone with an active gimbal system based on a pair of serial servo motors, which stabilizes 8 retinas dedicated to optic flow measurements in the 25 °/s to 1000 °/s range, each of which comprises 12 auto-adaptive pixels working in a 7-decade lighting range. The X4-MaG drone is tested in front of a slanted wall, its quasi-panoramic bio-inspired eye on board is able to estimate the angle of incidence in the 0° to 50° range with an error of less than 2.5° when flying. These experimental results are a first step towards a fully autonomous micro quadrotor requiring no magnetometers, which will be able in the near future to " sense and avoid " obstacles in GPS-denied environments.
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Communication dans un congrès
The 9th International Micro Air Vehicle Conference and Competition (IMAV), Sep 2017, Toulouse, France
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Contributeur : Julien Serres <>
Soumis le : mardi 26 septembre 2017 - 17:31:38
Dernière modification le : jeudi 18 janvier 2018 - 01:52:02
Document(s) archivé(s) le : mercredi 27 décembre 2017 - 13:49:34

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Erik Vanhoutte, Franck Ruffier, Julien Serres. A honeybee's navigational toolkit on Board a Bio-inspired Micro Flying Robot. The 9th International Micro Air Vehicle Conference and Competition (IMAV), Sep 2017, Toulouse, France. 〈hal-01593819〉

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