Spirals and Conchospirals in the Flight of Insects

Boyadzhiev, Khristo N.

doi:10.2307/2687199

Cited by 29 publications

(29 citation statements)

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“…In this article we have shown that it is possible to use the concepts found in (Boyadzhiev, 1999) and apply them to the OA of a mobile robot. Furthermore, we have succeeded in combining these techniques into a navigational framework including a supervisor and a VS controller.…”

Section: Resultsmentioning

confidence: 99%

“…In this paragraph, our work has been inspired by (Boyadzhiev, 1999) where the author has shown that the Figure 2 gives a general idea of how this concept can be applied for OA. Here we introduce three different options (an outward, a circle and an inward spiral trajectory) to circumvent a detected obstacle (gray polygon) using the spiraling concept by choosing α d as described on page 4.…”

Section: The Avoidance Strategymentioning

confidence: 99%

“…So far we managed to set all parameters but one. To properly choose α d we may consider the following guidelines deducted from (Boyadzhiev, 1999) (review Figure 2 on page 3):…”

Section: Definition Of the Spiral 221 Choosing The Spiral Center Pointmentioning

confidence: 99%

“…For the context of our project, the robot has to mainly avoid unexpected static and moving obstacles. It is inspired by an article showing that insects perform a spiral path around a light source (Boyadzhiev, 1999). Following a reasoning similar to the one developed in (Mcfadyen et al, 2012b), (Mcfadyen et al, 2012a) our idea is to adapt this method to make a robot avoid the obstacle by performing a spiral around a specific point to be defined.…”

Section: Introductionmentioning

confidence: 99%

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A Navigational Framework Combining Visual Servoing and Spiral Obstacle Avoidance Techniques

Futterlieb

Cadenat

Sentenac³

2014

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics

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Abstract:This paper presents a navigational framework which enables a robot to perform Long Range Navigation in the context of the Air-Cobot-Project in which a robot is used to execute an autonomous pre-flight inspection on an aircraft. The robot is equipped with Laser range finders and a mobile stereo camera system. The idea is to guide the robot to the pre-defined checkpoints using a Visual Servoing controller based on video data, while avoiding static and moving obstacles. The contribution of the paper is an avoidance technique derived from the spiral flight path of insects applied to the Laser range data. Simulation results validate the whole approach.

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Section: Resultsmentioning

confidence: 99%

Section: The Avoidance Strategymentioning

confidence: 99%

“…So far we managed to set all parameters but one. To properly choose α d we may consider the following guidelines deducted from (Boyadzhiev, 1999) (review Figure 2 on page 3):…”

Section: Definition Of the Spiral 221 Choosing The Spiral Center Pointmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Navigational Framework Combining Visual Servoing and Spiral Obstacle Avoidance Techniques

Futterlieb

Cadenat

Sentenac³

2014

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics

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“…This restriction is often referred as the field-of-view constraint. In Boyadzhiev (1999); Tucker (2000) it is observed that certain animals moving with respect to prey or a light source, follow a logarithmic spiral. This kind of spiral enables them to maintain the prey or light source in their field-of-view at all time during their motion.…”

Section: Introductionmentioning

confidence: 99%

Vision Restricted Path Planning and Control for Underactuated Vehicles

Sans-Muntadas¹,

Pettersen²,

Brekke³

2016

IFAC-PapersOnLine

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Autonomous vehicles can obtain navigation information by observing a source with a camera or an acoustic system mounted on the frame of the vehicle. This information properly fused provides navigation information that can overcome the lack of other sources of positioning. However, these systems often have a limited angular field-of-view (FOV). Due to this restriction, motion along some paths will make it impossible to obtain the necessary navigation information as the source is no longer in the vehicle's FOV. This paper proposes both a path planning approach and a guidance control law that allows the vehicle to preserve a certain object or feature inside the FOV while at the same time converging to the proposed path.

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