Title :
Near range path navigation using LGMD visual neural networks
Author :
Yue, Shigang ; Rind, F. Claire
Author_Institution :
Dept of Comput. & Inf., Univ. of Lincoln, Lincoln, UK
Abstract :
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.
Keywords :
feature extraction; mobile robots; neurocontrollers; path planning; robot vision; LGMD visual neural network; binocular style visual system; executable motor command; image processing; lobula giant movement detector; mobile robot; near range path navigation; robot vision system; visual extraction; Animals; Biology computing; Collision avoidance; Electronic mail; Machine vision; Mobile robots; Navigation; Neural networks; Robot vision systems; Visual system; LGMD; path navigation; visual neural network;
Conference_Titel :
Computer Science and Information Technology, 2009. ICCSIT 2009. 2nd IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-4519-6
Electronic_ISBN :
978-1-4244-4520-2
DOI :
10.1109/ICCSIT.2009.5234439
