Research Group Biomechatronics, CITEC, Bielefeld University, Bielefeld, Germany.
Department of Neurobiology and CITEC, Bielefeld University, Bielefeld, Germany.
PLoS One. 2020 Apr 1;15(4):e0230620. doi: 10.1371/journal.pone.0230620. eCollection 2020.
Emulating the highly resource-efficient processing of visual motion information in the brain of flying insects, a bio-inspired controller for collision avoidance and navigation was implemented on a novel, integrated System-on-Chip-based hardware module. The hardware module is used to control visually-guided navigation behavior of the stick insect-like hexapod robot HECTOR. By leveraging highly parallelized bio-inspired algorithms to extract nearness information from visual motion in dynamically reconfigurable logic, HECTOR is able to navigate to predefined goal positions without colliding with obstacles. The system drastically outperforms CPU- and graphics card-based implementations in terms of speed and resource efficiency, making it suitable to be also placed on fast moving robots, such as flying drones.
受昆虫大脑中高效处理视觉运动信息的启发，我们在一种新颖的、基于片上系统的硬件模块上实现了一种用于避障和导航的仿生控制器。该硬件模块用于控制类似竹节虫的六足机器人 HECTOR 的视觉引导导航行为。通过利用高度并行的仿生算法，从动态可重构逻辑中的视觉运动中提取接近度信息，HECTOR 能够在不与障碍物碰撞的情况下导航到预定义的目标位置。与基于 CPU 和图形卡的实现相比，该系统在速度和资源效率方面具有显著优势，因此非常适合安装在快速移动的机器人上，如飞行无人机。
