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A Furcated Visual Collision Avoidance System for an Autonomous Micro Robot

Isakhani, H., Aouf, N. ORCID: 0000-0001-9291-4077, Kechagias-Stamatis, O. and Whidborne, J. F. (2018). A Furcated Visual Collision Avoidance System for an Autonomous Micro Robot. IEEE Transactions on Cognitive and Developmental Systems, doi: 10.1109/TCDS.2018.2858742

Abstract

This 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.

Publication Type: Article
Additional Information: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Publisher Keywords: Autonomous robots, biologically-inspired collision avoidance, furcated luminance-difference processing (FLDP) direction and proximity estimation
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments: School of Mathematics, Computer Science & Engineering > Engineering > Mechanical Engineering & Aeronautics
URI: https://openaccess.city.ac.uk/id/eprint/23186
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