We have developed a visually based autopilot which is able to make an air vehicle automatically take off, cruise and land, while reacting appropriately to wind disturbances (head wind and tail wind). This autopilot consists of a visual control system that adjusts the thrust so as to keep the downward optic flow (OF) at a constant value. This autopilot is therefore based on an optic flow regulation loop. It makes use of a sensor, which is known as an elementary motion detector (EMD). The functional structure of this EMD was inspired by that of the housefly, which was previously investigated at our Laboratory by performing electrophysiological recordings while applying optical microstimuli to single photoreceptor cells of the insect's compound eye.
We built a proof-of-concept, tethered rotorcraft that circles indoors over an environment composed of contrasting features randomly arranged on the floor. The autopilot, which we have called OCTAVE (Optic flow based Control sysTem for Aerial VEhicles), enables this miniature (100 g) rotorcraft to carry out complex tasks such as ground avoidance and terrain following, to control risky maneuvers such as automatic take off and automatic landing, and to respond appropriately to wind disturbances. A single visuomotor control loop suffices to perform all these reputedly demanding tasks. As the electronic processing system required is extremely light-weight (only a few grams), it can be mounted on-board micro-air vehicles (MAVs) as well as larger unmanned air vehicles (UAVs) or even submarines and autonomous underwater vehicles (AUVs). But the OCTAVE autopilot could also provide guidance and/or warning signals to prevent the pilots of manned aircraft from colliding with shallow terrain, for example. 相似文献
