Fly-inspired Visual Steering of an Ultralight Indoor Aircraft

• Published in: IEEE Transactions on Robotics, vol. 22, num. 1, p. 137-146
• Publication date: 2006

We aim at developing autonomous micro-flyers capable of navigating within houses or small indoor environments using vision as principal source of information. Due to severe weight and energy constraints, inspiration is taken from the fly for the selection of sensors, for signal processing, and for the control strategy. The current 30-gram prototype is capable of autonomous steering in a 16x16m textured environment. This paper describes models and algorithms which allow for efficient course stabilization and collision avoidance using optic flow and inertial information.

Keywords: Indoor flying robot ; steering control ; obstacle avoidance ; optic flow. ; Bio-inspired Flying Robots

Reference

• LIS-ARTICLE-2006-003
• doi:10.1109/TRO.2005.858857
• View record in Web of Science

• URL: http://phd.zuff.info

Record created on 2006-01-12, modified on 2012-03-21