Near range path navigation using LGMD visual neural networks
Beijing（2009）
摘要
In this paper, we proposed a method for near range path navigation for a mobile robot by using a pair of biologically inspired visual neural network - lobula giant movement detector (LGMD). In the proposed binocular style visual system, each LGMD processes images covering a part of the wide field of view and extracts relevant visual cues as its output. The outputs from the two LGMDs are compared and translated into executable motor commands to control the wheels of the robot in real time. Stronger signal from the LGMD in one side pushes the robot away from this side step by step; therefore, the robot can navigate in a visual environment naturally with the proposed vision system. Our experiments showed that this bio-inspired system worked well in different scenarios.
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关键词
lgmd visual neural network,lobula giant movement detector,image processing,executable motor command,neurocontrollers,path navigation,robot vision system,visual extraction,mobile robots,near range path navigation,lgmd,feature extraction,path planning,- visual neural network,visual neural network,mobile robot,robot vision,binocular style visual system,neural network,machine vision,vision system,field of view,navigation,visual system,real time,artificial neural networks,visual cues,visualization
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