An autonomous flying robot for testing bio-inspired navigation strategies

Konferenz: ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)
07.06.2010 - 09.06.2010 in Munich, Germany

Tagungsband: ISR/ROBOTIK 2010

Seiten: 7Sprache: EnglischTyp: PDF

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Hafner, Verena V.; Bachmann, Ferry; Berthold, Oswald; Schulz, Michael; Müller, Mathias (Humboldt-Universität zu Berlin, Institut für Informatik, LS Kognitive Robotik, Unter den Linden 6, 10099 Berlin, Germany)

In this paper, we present our approach to studying bio-inspired navigation strategies on an autonomous flying robot. The robot is a quadrocopter that is based on technology from Mikrokopter and extended with several sensor systems, most of them inspired by sensors that animals use for navigating in their natural environment. Using a light-weight embedded computer from gumstix onboard the copter, the system can be fully autonomous. We present prototypical experiments on visual homing, self-stabilisation using optic flow, and altitude control using evolutionary strategies.