A Control-Oriented Analysis of Bio-inspired Visuomotor Convergence
A Control-Oriented Analysis of Bio-inspired Visuomotor Convergence
复制标题
仿生视觉运动收敛的面向控制的分析
DOI：
10.1109/cdc.2005.1582162
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
M. Dickinson
中科院分区：
文献类型：
--
作者：
J. Humbert;R. Murray;M. Dickinson
昆虫在面对不确定性时表现出令人难以置信的强大闭环战斗动力学。促成这种无与伦比的行为的基本原理是视觉感觉信息的快速处理和会聚，以通过空间宽场整合来对抗运动命令，这是由视觉神经节的小叶板部分中的视网膜运动模式敏感中间神经元（LPTC）完成的。在控制理论的框架下，建立了空间连续视网膜图像流和宽场积分处理的模型，建立了图像流核（视网膜运动模式灵敏度）和它们所代表的反馈项之间的联系。结果表明，这些输出足以稳定的速度调节和地形跟随任务。因此，通过计算高效的宽场积分处理的全局视网膜运动线索的提取提供了一种新颖的和有前途的方法，利用视觉感官信息在自主机器人导航和飞行控制应用。
Insects exhibit incredibly robust closed loop fight dynamics in the face of uncertainties. A fundamental principle contributing to this unparalleled behavior is rapid processing and convergence of visual sensory information to fight motor commands via spatial wide-field integration, accomplished by retinal motion pattern sensitive interneurons (LPTCs) in the lobula plate portion of the visual ganglia. With in a control- theoretic frame work, models for spatially continuous retinal image flow and wide-field integration processing are developed, establishing the connection between image flow kernels (retinal motion pattern sensitivities) and the feedback terms they represent. It is shown that these out puts are sufficient to stabilize speed regulation and terrain following tasks. Hence, extraction of global retinal motion cues through computationally efficient wide-field integration processing provides a novel and promising methodology for utilizing visual sensory information in autonomous robotic navigation and fight control applications.