Application of sensory body schemas to path planning for micro air vehicles (MAVs)

Eniko T. Enikov, Juan Antonio Escareno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

To date, most autonomous micro air vehicles (MAV-s) operate in a controlled environment, where the location of and attitude of the aircraft are measured be dedicated high-power computers with IR tracking capability. If MAV-s are to ever exit the lab and carry out autonomous missions, their flight control systems needs to utilize on-board sensors and high-efficiency attitude determination algorithms. To address this need, we investigate the feasibility of using body schemas to carry out path planning in the vision space of the MAV. Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brains, allowing efficient representation of non-linear mapping between the body configuration space, i.e. its generalized coordinates and the resulting sensory outputs. This paper presents a numerical experiment of generating landing trajectories of a miniature rotor-craft using the notion of body and image schemas. More specifically, we demonstrate how a trajectory planning can be executed in the image space using a pseudo-potential functions and a gradientbased maximum seeking algorithm. It is demonstrated that a neural-gas type neural network, trained through Hebbian-type learning algorithm can learn a mapping between the rotor-craft position/attitude and the output of its vision sensors. Numerical simulations of the landing performance of a physical model is also presented, The resulting trajectory tracking errors are less than 8 %.

Original languageEnglish (US)
Title of host publicationICINCO 2015 - 12th International Conference on Informatics in Control, Automation and Robotics, Proceedings
EditorsJoaquim Filipe, Joaquim Filipe, Kurosh Madani, Oleg Gusikhin, Jurek Sasiadek
PublisherSciTePress
Pages25-31
Number of pages7
ISBN (Electronic)9789897581229
DOIs
StatePublished - Jan 1 2015
Event12th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2015 - Colmar, Alsace, France
Duration: Jul 21 2015Jul 23 2015

Publication series

NameICINCO 2015 - 12th International Conference on Informatics in Control, Automation and Robotics, Proceedings
Volume1

Other

Other12th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2015
CountryFrance
CityColmar, Alsace
Period7/21/157/23/15

Keywords

  • Artificial neural network
  • Body schema
  • Cognitive robotics
  • Micro-air vehicles
  • Path planning

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition

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  • Cite this

    Enikov, E. T., & Escareno, J. A. (2015). Application of sensory body schemas to path planning for micro air vehicles (MAVs). In J. Filipe, J. Filipe, K. Madani, O. Gusikhin, & J. Sasiadek (Eds.), ICINCO 2015 - 12th International Conference on Informatics in Control, Automation and Robotics, Proceedings (pp. 25-31). (ICINCO 2015 - 12th International Conference on Informatics in Control, Automation and Robotics, Proceedings; Vol. 1). SciTePress. https://doi.org/10.5220/0005547000250031