We describe a visually-guided demonstration model aircraft, the attitude of which is stabilized in yaw by means of a novel, non-emissive optical sensor having a small visual field. This aircraft incorporates a miniature scanning sensor consisting of two photoreceptors with adjacent visual axes, driving a local motion detector, which are made to perform a low-amplitude scanning at a varying angular speed. Under these conditions, the signal output from the motion detector varies gradually with the angular position of a contrasting object placed in its visual field, actually making the complete system a non-emissive optical 'position sensor'. After incorporating the sensor into a visuomotor feedback loop enhanced by an inertial sensor, we established that the 'sighted aircraft' can fixate and track a dark edge placed in its visual field, thus opening the way for the development of visually-guided system for controlling the attitude of micro-air vehicles.


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    Title :

    Visual servo system based on a biologically inspired scanning sensor


    Contributors:


    Publication date :

    1999


    Size :

    12 Seiten, 13 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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