Visual Homing for Micro Aerial Vehicles Using Scene Familiarity
Kimberly N. McGuire (TU Delft - Control & Simulation)
G. C. H. E. de Croon (TU Delft - Control & Simulation)
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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. One of the elementary navigation tasks of insects and robots is “homing”, which is the task of returning to an initial starting position. 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 place.