Using the neural circuit of the insect central complex for path integration on a micro aerial vehicle

Jan Stankiewicz*, Barbara Webb

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We have deployed an anatomically constrained neural model for path integration on a real world, holonomic aerial platform. Based on the insect central complex, the model combines estimated heading and ground speed information to maintain a location estimate that can be used to steer the agent directly home after convoluted outward journeys. We implement a biologically plausible method to estimate ground speed using optical flow. We discover that a downward viewing, mechanically stabilised and height compensated vision system performs well in a range of natural environments, even when visual acuity is reduced to 3°/pixel. In a flat outdoor environment, the worst case final displacement error increases at a rate 1.5m 100m outbound travel. The field of view of the vision system has no impact on odometry performance.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Proceedings
EditorsVasiliki Vouloutsi, Anna Mura, Paul F. M. J. Verschure, Falk Tauber, Thomas Speck, Tony J. Prescott
PublisherSpringer Science and Business Media Deutschland GmbH
Pages325-337
Number of pages13
ISBN (Print)9783030643126
DOIs
Publication statusPublished - 23 Dec 2021
Event9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020 - Virtual, Online
Duration: 28 Jul 201930 Jul 2019

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Cham
Volume12413
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020
CityVirtual, Online
Period28/07/1930/07/19

Keywords

  • Bio-mimetic
  • Central complex
  • Computer vision
  • MAV

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