Performance of a Visual Fixation Model in an Autonomous Micro Robot Inspired by Drosophila Physiology

摘要

In nature, lightweight and low-powered insects are ideal model systems to study motion perception strategies. Understanding the underlying characteristics and functionality of insects' visual systems is not only attractive to neural system modellers but also critical in providing effective solutions to future robotics. This paper presents a novel modelling of dynamic vision system inspired by Drosophila physiology for mimicking fast motion tracking and a closed-loop behavioural response to fixation. The proposed model was realised on the embedded system in an autonomous micro robot which has limited computational resources. A monocular camera was applied as the only motion sensing modality. Systematic experiments including open-loop and closed-loop bio-robotic tests validated the proposed visual fixation model: the robot showed motion tracking and fixation behaviours similarly to insects; the image processing frequency can maintain 25 ~ 45Hz. Arena tests also demonstrated a successful following behaviour aroused by fixation in navigation.