A furcated visual collision avoidance system for an autonomous micro robot

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dc.contributor.authorIsakhani, Hamid
dc.contributor.authorAouf, Nabil
dc.contributor.authorKechagias-Stamatis, Odysseas
dc.contributor.authorWhidborne, James F.
dc.date.accessioned2018-10-19T12:44:45Z
dc.date.available2018-10-19T12:44:45Z
dc.date.issued2018-07-23
dc.description.abstractThis paper proposes a secondary reactive collision avoidance system for micro class of robots based on a novel approach known as the Furcated Luminance-Difference Processing (FLDP) inspired by the Lobula Giant Movement Detector, a wide-field visual neuron located in the lobula layer of a locust nervous system. This paper addresses some of the major collision avoidance challenges; obstacle proximity & direction estimation, and operation in GPS-denied environment with irregular lighting. Additionally, it has proven effective in detecting edges independent of background color, size, and contour. The FLDP executes a series of image enhancement and edge detection algorithms to estimate collision threat-level which further determines whether or not the robot’s field of view must be dissected where each section’s response is compared against the others to generate a simple collision-free maneuver. Ultimately, the computation load and the performance of the model is assessed against an eclectic set of off-line as well as real-time real-world collision scenarios validating the proposed model’s asserted capability to avoid obstacles at more than 670 mm prior to collision, moving at 1.2 ms¯¹ with a successful avoidance rate of 90% processing at 120 Hz on a simple single core microcontroller, sufficient to conclude the system’s feasibility for real-time real-world applications that possess fail-safe collision avoidance system.en_UK
dc.identifier.citationIsakhani H, Aouf N, Kechagias-Stamatis O, Whidborne J. (2020) A furcated visual collision avoidance system for an autonomous micro robot. IEEE Transactions on Cognitive and Developmental Systems, Volume 12, March 2020, pp. 1-11en_UK
dc.identifier.cris21745606
dc.identifier.issn2379-8920
dc.identifier.urihttps://doi.org/10.1109/TCDS.2018.2858742
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/13550
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectAutonomous robotsen_UK
dc.subjectbiologically-inspireden_UK
dc.subjectfurcated luminance-difference processing (FLDP)en_UK
dc.subjectdirection and proximity estimationen_UK
dc.titleA furcated visual collision avoidance system for an autonomous micro roboten_UK
dc.typeArticleen_UK

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