Insect vision inspired visual sensor employing new collision avoidance algorithm based on collision possibility of approaching object

Abstract

In this paper, we propose a new collision avoidance algorithm which is inspired by insect vision. Insects can obtain necessary information for their behavior, such as position and velocity of obstacle, even when they are moving fast. Insects realize this by using micro photo sensors and simple processing. We propose a visual system based on structure of compound eye and simple processing. In the proposed system, ommatidia realized by photo diodes are arranged in semicircle type. When obstacle appears in visual field, three information are extracted, which are the number, the changes in the number and the changes of center position of the active ommatidia. Then the collision possibility is estimated by fuzzy inference using these information. If the collision possibility becomes large, avoidance behavior is executed. We show its performance and compare the results to previous approaches.