An LGMD Based Competitive Collision Avoidance Strategy for UAV

Zhao, Jiannan and Ma, Xingzao and Fu, Qinbing and Hu, Cheng and Yue, Shigang (2019) An LGMD Based Competitive Collision Avoidance Strategy for UAV. In: The 15th International Conference on Artificial Intelligence Applications and Innovations, 24-26 May 2019, Crete, Greece.

Full content URL: https://doi.org/10.1007/978-3-030-19823-7_6

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An LGMD Based Competitive Collision Avoidance Strategy for UAV
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Abstract

Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of miles without collision. In the locust’s brain, a visual pathway of LGMD-DCMD (lobula giant movement detector and descending contra-lateral motion detector) has been identified as collision perception system guiding fast collision avoidance for locusts, which is ideal for designing artificial vision systems. However, there is very few works investigating its potential in real-world UAV applications. In this paper, we present an LGMD based competitive collision avoidance method for UAV indoor navigation. Compared to previous works, we divided the UAV’s field of view into four subfields each handled by an LGMD neuron. Therefore, four individual competitive LGMDs (C-LGMD) compete for guiding the directional collision avoidance of UAV. With more degrees of freedom compared to ground robots and vehicles, the UAV can escape from collision along four cardinal directions (e.g. the object approaching from the left-side triggers a rightward shifting of the UAV). Our proposed method has been validated by both simulations and real-time quadcopter arena experiments.

Keywords:UAV collision avoidance, LGMD, Bio-inspired neural network
Subjects:G Mathematical and Computer Sciences > G730 Neural Computing
H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:35691
Deposited On:16 Apr 2019 15:30

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