Abstract
Inspired by natural visual systems where gaze stabilization is at a premium, we simulated an aerial robot with a decoupled eye to achieve more robust hovering above a ground target despite strong lateral and rotational disturbances. In this paper, two different robots are compared for the same disturbances and displacements. The first robot is equipped with a fixed eye featuring a large field-of-view (FOV) and the second robot is endowed with a decoupled eye featuring a small FOV (about ±5°). Even if this mechanical decoupling increases the mechanical complexity of the robot, this study demonstrates that disturbances are rejected faster and the computational complexity is clearly decreased. Thanks to bio-inspired visuo-motor reflexes, the decoupled eye robot is able to hold its gaze locked onto a distant target and to reject strong disturbances by profiting of the small inertia of the decoupled eye.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Abdelkrim, N., Aouf, N., Tsourdos, A., White, B.: Robust nonlinear filtering for ins/gps uav localization. In: 2008 16th Mediterranean Conference on Control and Automation, pp. 695–702 (2008), doi:10.1109/MED.2008.4602149
Bachrach, A., He, R., Roy, N.: Autonomous flight in unknown indoor environments. International Journal of Micro Air Vehicles, 1756-8293, 217–228 (2010), doi:10.1260/175682909790291492
Ballard, D.H.: Animate vision. Artificial Intelligence 48(1), 57–86 (1991), doi:10.1016/0004-3702(91)90080-4
Boeddeker, N., Kern, R., Egelhaaf, M.: Chasing a dummy target: smooth pursuit and velocity control in male blowflies. Proc. R. Soc. Lond. B 270, 393–399 (2003)
Castellanos, J., Lesecq, S., Marchand, N., Delamare, J.: A low-cost air data attitude heading reference system for the tourism airplane applications. In: 2005 IEEE Sensors, p. 4. IEEE (2005)
Collett, T.S., Land, M.F.: Visual control of flight behaviour in the hoverflysyritta pipiens l. Journal of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology 99(1), 1–66 (1975)
Grzonka, S., Grisetti, G., Burgard, W.: Towards a navigation system for autonomous indoor flying. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 2878–2883 (2009), doi:10.1109/ROBOT.2009.5152446
Gurdan, D., Stumpf, J., Achtelik, M., Doth, K.M., Hirzinger, G., Rus, D.: Energy-efficient autonomous four-rotor flying robot controlled at 1 khz. In: 2007 IEEE International Conference on Robotics and Automation, pp. 361–366 (2007), doi:10.1109/ROBOT.2007.363813
Hengstenberg, R.: Mechanosensorey control of compensatory head roll during flight in the blowfly calliphora erythrocephala meig. Journal of comparative Physiology A 163, 151–165 (1988)
Juston, R., Viollet, S.: A miniature bio-inspired position sensing device for the control of micro-aerial robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal (2012) (in press)
Kerhuel, L., Viollet, S., Franceschini, N.: Steering by gazing: An efficient biomimetic control strategy for visually guided micro aerial vehicles. IEEE Transactions on Robotics 26(2), 307–319 (2010), doi:10.1109/TRO.2010.2042537
Kerhuel, L., Viollet, S., Franceschini, N.: The vodka sensor: A bio-inspired hyperacute optical position sensing device 12(2), 315–324 (2012), doi:10.1109/JSEN.2011.2129505
Kim, J., Kang, M.S., Park, S.: Accurate modeling and robust hovering control for a quadrotor vtol aircraft. Journal of Intelligent & Robotic Systems 57, 9–26 (2010), 10.1007/s10846-009-9369-z
Mahony, R., Hamel, T., Pflimlin, J.M.: Nonlinear complementary filters on the special orthogonal group. IEEE Transactions on Automatic Control 53(5), 1203–1218 (2008), doi:10.1109/TAC.2008.923738
Manecy, A., Viollet, S., Marchand, N.: Bio-Inspired Hovering Control for an Aerial Robot Equipped with a Decoupled Eye and a Rate Gyro. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal (2012) (in press)
Miles, F.: The neural processing of 3-d visual information: evidence from eye movements. European Journal of Neuroscience 10(3), 811–822 (1998), doi:10.1046/j.1460-9568.1998.00112.x
Mondragón, I., Olivares-Méndez, M., Campoy, P., Martínez, C., Mejias, L.: Unmanned aerial vehicles uavs attitude, height, motion estimation and control using visual systems. Autonomous Robots 29, 17–34 (2010), http://dx.doi.org/10.1007/s10514-010-9183-2 , doi:10.1007/s10514-010-9183-2
Mori, R., Hirata, K., Kinoshita, T.: Vision-based guidance control of a small-scale unmanned helicopter. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, pp. 2648–2653 (2007), doi:10.1109/IROS.2007.4399623
Nemra, A., Aouf, N.: Robust ins/gps sensor fusion for uav localization using sdre nonlinear filtering. IEEE Sensors Journal 10(4), 789–798 (2010), doi:10.1109/JSEN.2009.2034730
Preuss, T., Hengstenberg, R.: Structure and kinematics of the prosternal organs and their influence on head position in the blowfly calliphora erythrocephala meig. Journal of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology 171(4), 483–493 (1992)
Robinson, D.: The mechanics of human smooth pursuit eye movement. The Journal of Physiology 180(3), 569–591 (1965)
Rondon, E., Garcia-Carrillo, L.R., Fantoni, I.: Vision-based altitude, position and speed regulation of a quadrotor rotorcraft. In: Conference on Intelligent Robots and Systems (2010)
Shen, S., Michael, N., Kumar, V.: Autonomous multi-floor indoor navigation with a computationally constrained mav. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 20–25 (2011), doi:10.1109/ICRA.2011.5980357
Stark, L., Young, L.: Defining biological feedback control systems. Ann. N. Y. Acad. Sci. 117, 426–444 (1964)
Strausfeld, N., Seyan, H., Milde, J.: The neck motor system of the fly calliphora erythrocephala. 1. muscles and motor neurons. J. Comp. Physiol. A 160, 205–224 (1987)
Viollet, S., Franceschini, N.: Super-accurate visual control of an aerial minirobot. In: Autonomous Minirobots for Research and Edutainment, AMIRE (2001)
Viollet, S., Franceschini, N.: A high speed gaze control system based on the vestibulo-ocular reflex. Robotics and Autonomous Systems 50, 147–161 (2005)
Weiss, S., Scaramuzza, D., Siegwart, R.: Monocular-slam-based navigation for autonomous micro helicopters in gps-denied environments. Journal of Field Robotics 28(6), 854–874 (2011), http://dx.doi.org/10.1002/rob.20412 , doi:10.1002/rob.20412
Wendel, J., Meister, O., Schlaile, C., Trommer, G.F.: An integrated gps/mems-imu navigation system for an autonomous helicopter. Aerospace Science and Technology 10(6), 527–533 (2006), http://www.sciencedirect.com/science/article/pii/S1270963806000484 , doi:10.1016/j.ast.2006.04.002
Wenzel, K.E., Rosset, P., Zell, A.: Low-cost visual tracking of a landing place and hovering flight control with a microcontroller. Selected Papers from the 2nd International Symposium on UAV, pp. 297–311 (2009)
Westheimer, G.: Visual hyperacuity. In: Ottoson (ed.) Sensory Physiology, vol. 1. Springer, Berlin (1981)
Zeil, J., Boeddeker, N., Hemmi, J.: Vision and the organization of behaviour. Curr. Biol. 18(8), R320–R323 (2008), doi:10.1016/j.cub.2008.02.017
Zhang, T., Kang, Y., Achtelik, M., Kuhnlenz, K., Buss, M.: Autonomous hovering of a vision/imu guided quadrotor. In: International Conference on Mechatronics and Automation (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Manecy, A., Juston, R., Marchand, N., Viollet, S. (2013). Decoupling the Eye: A Key toward a Robust Hovering for Sighted Aerial Robots. In: Chu, Q., Mulder, B., Choukroun, D., van Kampen, EJ., de Visser, C., Looye, G. (eds) Advances in Aerospace Guidance, Navigation and Control. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38253-6_20
Download citation
DOI: https://doi.org/10.1007/978-3-642-38253-6_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-38252-9
Online ISBN: 978-3-642-38253-6
eBook Packages: EngineeringEngineering (R0)