Visual Homing for Micro Aerial Vehicles using Scene Familiarity

Conference paper (2016)

Authors

G.J.J. van Dalen

K.N. McGuire

G.C.H.E. de Croon

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Published Date

2016

Language

English

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Abstract

Autonomous navigation is a major challenge in the development of Micro Aerial Vehicles (MAVs). Especially when an algorithm has to be efficient, insect intelligence can be a source of inspiration. An elementary navigation task is homing, which means autonomously returning to the initial location. A promising approach uses learned visual familiarity of a route to determine reference headings during homing. In this paper an existing biological proof-of-concept is transferred to an algorithm for micro drones, using vision-in-the-loop experiments in indoor environments. An artificial neural network determines which control actions to take.

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