Simulation and Robot Implementation of Visual Orientation Behaviors of Flies

摘要

Flies have developed visuomotor programs for tasks like course stabilization, fixation and approach towards stationary objects, tracking of moving objects, and landing, which are based on the analysis of visual motion information. Theoretical and experimental results suggest that the visuomotor control for course stabilization as well as fixation and approach towards stationary objects may be realized at least partially by one common sensory circuit In order to test this hypothesis we designed simulated agents, with a control architecture that is based on results from fly research. We present agents with a visuomotor controller that regulates the two behaviors of course stabilization and object fixation. To test this controller under real world conditions, we implemented it on a miniature robot. We can show that besides course stabilization and object fixation, the robot additionally approaches stationary objects.