A Bio-inspired Sighted Robot Chases like a Hoverfly

Abstract : Here we present a novel bio-inspired visual processing system, which enables a robot to locate and follow a target, using an artificial compound eye called CurvACE. This visual sensor actively scanned the environment at an imposed frequency (50Hz) with an angular scanning amplitude of 4.2 • and succeeded in locating a textured cylindrical target with hyperacuity, i.e. much finer resolution than the coarse inter-receptor angle of the compound eye. Equipped with this small, lightweight visual scanning sensor, a Mecanum-wheeled mobile robot named ACEbot was able to follow a target at a constant distance by localizing the right and left edges of the target. The localization of the target's contrasted edges is based on a bio-inspired summation of Gaussian receptive fields in the visual system. By means of its auto-adaptive pixels, ACEbot consistently achieved similar pursuit performances under various lighting conditions with a high level of repeatability. The robotic pursuit pattern mimics finely the behavior of the male fly Syritta Pipens L. while pursuing the female. The high similarity in the trajectories as well as the biomimicry of the visual system provides strong support for the hypothesis that flies do maintain center the target and constant its subtended angle during smooth pursuit. Moreover, we discuss the fact that such simple strategy can also provide a trajectory compatible with motion camouflage.
Document type :
Journal articles
Complete list of metadatas

Cited literature [54 references]  Display  Hide  Download

https://hal-amu.archives-ouvertes.fr/hal-01964636
Contributor : Franck Ruffier <>
Submitted on : Saturday, December 22, 2018 - 10:10:54 PM
Last modification on : Monday, July 22, 2019 - 12:31:51 PM
Long-term archiving on : Saturday, March 23, 2019 - 12:51:12 PM

File

B_B_ACEbot_review(1).pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Fabien Colonnier, Soledad Ramirez-Martinez, Stéphane Viollet, Franck Ruffier. A Bio-inspired Sighted Robot Chases like a Hoverfly. Bioinspiration and Biomimetics, IOP Publishing, 2019, ⟨10.1088/1748-3190/aaffa4⟩. ⟨hal-01964636⟩

Share

Metrics

Record views

72

Files downloads

42