Insect inspired behaviours for the autonomous control of mobile robots

摘要

Animals navigate through various uncontrolled environments with seemingly little effort. Flying insects, especially, are quite adept at manoeuvring in complex, unpredictable and possibly hostile environments. Through both simulation and real-world experiments, we demonstrate the feasibility of equipping a mobile robot with the ability to navigate a corridor environment, in real time, using principles based on insect-based visual guidance. In particular we have used the bees' navigational strategy of measuring object range in terms of image velocity. We have also shown the viability and usefulness of various other insect behaviours: 1) keeping walls equidistant, 2) slowing down when approaching an object, 3) regulating speed according to tunnel width, and 4) using visual motion as a measure of the distance travelled.