Novel Hyperacute Gimbal Eye for Implementing Precise Hovering and Target Tracking on Board a Quadrotor - Université Grenoble Alpes Accéder directement au contenu
Communication Dans Un Congrès Année : 2016

Novel Hyperacute Gimbal Eye for Implementing Precise Hovering and Target Tracking on Board a Quadrotor

Julien Diperi
  • Fonction : Auteur
Marc Boyron
  • Fonction : Auteur
Stéphane Viollet

Résumé

This paper presents a new minimalist bio-inspired artificial eye of only 24 pixels, able to locate accurately a target placed in its small field of view (10°). The eye is mounted on a very light custom-made gimbal system which makes the eye able to track faithfully a moving target. We have shown here, that our gimbal eye can be embedded onboard a small quadrotor to achieve accurate hovering with respect to a target placed onto the ground. Our aiborne oculomotor system was enhanced with a bio-inspired reflexe in charge to lock efficiently the robot’s gaze onto a target and compensate for the robot’s rotations and disturbances. The use of very few pixels allowed to implement a visual processing algorithm at a refresh rate as high as such as 400 Hz. This high refresh rate coupled to a very fast control of the eye’s orientation allowed the robot to track efficiently a target moving at a speed up to 200°/s.
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Dates et versions

hal-01261044 , version 1 (23-05-2016)

Licence

Paternité - Pas de modifications

Identifiants

Citer

Augustin Manecy, Julien Diperi, Marc Boyron, Nicolas Marchand, Stéphane Viollet. Novel Hyperacute Gimbal Eye for Implementing Precise Hovering and Target Tracking on Board a Quadrotor. ICRA 2016 - IEEE International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.3212-3218, ⟨10.1109/ICRA.2016.7487490⟩. ⟨hal-01261044⟩
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