Resource-efficient bio-inspired visual processing on the hexapod walking robot HECTOR

Autor(en): Meyer, Hanno Gerd
Klimeck, Daniel
Paskarbeit, Jan
Rueckert, Ulrich
Egelhaaf, Martin
Porrmann, Mario 
Schneider, Axel
Stichwörter: FLY; GUIDED FLIGHT; HONEYBEES; INSECTS; MODEL; Multidisciplinary Sciences; NETWORK; OPTIC FLOW; PRINCIPLES; Science & Technology - Other Topics; STRATEGIES; WALKNET
Erscheinungsdatum: 2020
Herausgeber: PUBLIC LIBRARY SCIENCE
Journal: PLOS ONE
Volumen: 15
Ausgabe: 4
Zusammenfassung: 
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.
ISSN: 19326203
DOI: 10.1371/journal.pone.0230620

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