A simple algorithm for distance estimation without radar and stereo vision based on the bionic principle of bee eyes

International Conference on Mechanical Engineering, Automation and Control Systems 2016

机械制造;无线电电子学;计算机科学

Khamukhin, A.A.^1

Institute of Cybernetics, Tomsk Polytechnic University, Lenin ave., 30, Tomsk

634050, Russia^1

关键词: Autonomous unmanned aerial vehicles;    Calculation formula;    Compound eye;    Distance estimation;    Low-power consumption;    Navigation algorithms;    SIMPLE algorithm;    Simple schemes;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/177/1/012028/pdf
DOI  :  10.1088/1757-899X/177/1/012028

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

Simple navigation algorithms are needed for small autonomous unmanned aerial vehicles (UAVs). These algorithms can be implemented in a small microprocessor with low power consumption. This will help to reduce the weight of the UAVs computing equipment and to increase the flight range. The proposed algorithm uses only the number of opaque channels (ommatidia in bees) through which a target can be seen by moving an observer from location 1 to 2 toward the target. The distance estimation is given relative to the distance between locations 1 and 2. The simple scheme of an appositional compound eye to develop calculation formula is proposed. The distance estimation error analysis shows that it decreases with an increase of the total number of opaque channels to a certain limit. An acceptable error of about 2 % is achieved with the angle of view from 3 to 10° when the total number of opaque channels is 21600.