| dc.creator |
Isakhani, Hamid |
|
| dc.creator |
Aouf, Nabil |
|
| dc.creator |
Kechagias-Stamatis, Odysseas |
|
| dc.creator |
Whidborne, James F. |
|
| dc.date |
2018-10-19T12:44:45Z |
|
| dc.date |
2018-10-19T12:44:45Z |
|
| dc.date |
2018-07-23 |
|
| dc.date.accessioned |
2022-05-25T16:39:06Z |
|
| dc.date.available |
2022-05-25T16:39:06Z |
|
| dc.identifier |
Hamid Isakhani, Nabil Aouf, Odysseas Kechagias-Stamatis, James F. Whidborne. A furcated visual collision avoidance system for an autonomous micro robot. IEEE Transactions on Cognitive and Developmental Systems, Volume 12, March 2020, pp. 1-11 |
|
| dc.identifier |
2379-8920 |
|
| dc.identifier |
https://doi.org/10.1109/TCDS.2018.2858742 |
|
| dc.identifier |
http://dspace.lib.cranfield.ac.uk/handle/1826/13550 |
|
| dc.identifier |
21745606 |
|
| dc.identifier.uri |
http://localhost:8080/xmlui/handle/CUHPOERS/182406 |
|
| dc.description |
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. |
|
| dc.language |
en |
|
| dc.publisher |
IEEE |
|
| dc.rights |
Attribution-NonCommercial 4.0 International |
|
| dc.rights |
http://creativecommons.org/licenses/by-nc/4.0/ |
|
| dc.subject |
Autonomous robots |
|
| dc.subject |
biologically-inspired |
|
| dc.subject |
furcated luminance-difference processing (FLDP) |
|
| dc.subject |
direction and proximity estimation |
|
| dc.title |
A furcated visual collision avoidance system for an autonomous micro robot |
|
| dc.type |
Article |
|