Visual Homing for Micro Aerial Vehicles Using Scene Familiarity

Journal article (2018)
Copyright: © 2018 G.J.J. van Dalen, K.N. McGuire, G.C.H.E. de Croon
DOI
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https://doi.org/10.1142/S230138501850005X
MAV Visual Homing Scene familiarity
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Published Date

08-06-2018

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. 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.