Visual Flight Control of a Quadrotor Using Bioinspired Motion Detector. (8th May 2012)

• Record Type: Journal Article
• Authors: Zhang, Lei; Zhang, Tianguang; Wu, Haiyan; Borst, Alexander; Kühnlenz, Kolja
• Other Names: Melgani Farid Academic Editor.
• Is Part Of: International journal of navigation and observation. Volume 2012(2012)
• Publication Date: 2012-05-08
• Subjects: Navigation -- Periodicals; Remote sensing -- Periodicals; Geographic information systems -- Periodicals; Global Positioning System -- Periodicals; Earth sciences -- Periodicals; Environmental monitoring -- Periodicals; Navigation; Télédétection; Systèmes d'information géographique; GPS; Sciences de la terre; Environnement -- Surveillance; Earth sciences; Environmental monitoring; Geographic information systems; Global Positioning System; Navigation; Remote sensing; Periodicals; Electronic journals; 629.045
• DOI: 10.1155/2012/627079
• Languages: English
• ISSNs: 1687-5990

Abstract

Abstract : Motion detection in the fly is extremely fast with low computational requirements. Inspired from the fly's vision system, we focus on a real-time flight control on a miniquadrotor with fast visual feedback. In this work, an elaborated elementary motion detector (EMD) is utilized to detect local optical flow. Combined with novel receptive field templates, the yaw rate of the quadrotor is estimated through a lookup table established with this bioinspired visual sensor. A closed-loop control system with the feedback of yaw rate estimated by EMD is designed. With the motion of the other degrees of freedom stabilized by a camera tracking system, the yaw-rate of the quadrotor during hovering is controlled based on EMD feedback under real-world scenario. The control performance of the proposed approach is compared with that of conventional approach. The experimental results demonstrate the effectiveness of utilizing EMD for quadrotor control.