Animal-inspired agile flight using optical flow sensing
Files
Accepted manuscript
Date
2012-01-01
DOI
Authors
Sebesta, K.
Baillieul, John
Version
OA Version
Citation
K Sebesta, J Baillieul. 2012. "Animal-Inspired Agile Flight Using Optical Flow Sensing." 2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), pp. 3727 - 3734 (8).
Abstract
There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle fields in which motion control laws are based on optical flow sensing. Performance comparison is made with feedback laws that use distance and bearing measurements, and practical challenges of implementation on an actual robotic air vehicle are described. The related question of fundamental performance limits due to clutter density is addressed.