Biologically inspired visual sensing and flight Control

Abstract

Abstract There is increased interest in new classes of mini- and micro-UAVs with sizes ranging from one metre to ten centimetres. Many envisioned applications of such UAVs require them to be able to fly close to the ground in complex environments. The difficulties associated with flying in such environments coupled with the reduced payload capacity of such airframes means that new methods of sensing and control need to be considered. Good models for such methods are found in the world of flying insects. One particular visual cue used by insects is optic flow, which is the apparent visual motion seen by the insect as a result of its motion through the environment. This paper discusses several research efforts aimed at developing new sensing and control algorithms inspired by insect vision and flight behaviors. These efforts are part of DARPA’s controlled biological and biomimetic systems (CBBS) programme.