A Visual Equalization Strategy for Locomotor Control: Of Honeybees, Robots, and Humans

Abstract

Honeybees fly down the center of a corridor by equating the speed of optic flow in the lateral field of the two eyes. This flow-equalization strategy has been successfully implemented in mobile robots to guide behavior in cluttered environments. We investigated whether humans use a similar strategy to steer down a corridor and determined the relative contributions of equating the speed of flow (.27), the splay angles of base lines (.62), and the visual angles of texture on the left and right walls (.03) to steering behavior. A generalized equalization strategy based on the weighted linear combination of these variables closely models human behavior, providing robust visual control.