Numerical Simulation of Visually Guided Landing Based on a Honeybee Motion Model; Journal of Intelligent & Robotic Systems; Vol. 95, iss. 2
| Parent link: | Journal of Intelligent & Robotic Systems Vol. 95, iss. 2.— 2019.— [P. 665-674] |
|---|---|
| المؤلف الرئيسي: | |
| مؤلف مشترك: | |
| الملخص: | Title screen We verified the validity of a bio-inspired strategy for visually guided landing and its mathematical model proposed M.V. Srinivasan et al. by numerical simulation. We studied the influence of temporal discretization and the values of the supported optical flow on the landing duration and its result (from smooth to crash). An algorithm for landing simulation was developed taking into account accepted assumptions of the model. Two formulas (sine and tangent) were derived to calculate the distance and the speed of the flying robot, ensuring the constancy of the optical flow at given time steps. A limitation was found in the very value of the optical flow (threshold value), when exceeding this, the strategy leads to a hard touchdown or a crash (at near zero distance the speed is not close to zero). It was shown that the threshold value of the optical flow decreases with increasing time step in both formulas. However, calculating the distance using sine formula has a significantly lower threshold value of the optical flow than the calculation using the tangent formula. It was found that landing occurs faster if we use the sine formula at equal values of the optical flow. Nevertheless, the smooth landing ends at lower threshold values of the optical flow than using the tangent formula. As a result, using a larger value of the optical flow, a faster smooth landing can be achieved using the tangent formula. Режим доступа: по договору с организацией-держателем ресурса |
| اللغة: | الإنجليزية |
| منشور في: |
2019
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| الموضوعات: | |
| الوصول للمادة أونلاين: | https://doi.org/10.1007/s10846-018-0960-z |
| التنسيق: | الكتروني فصل الكتاب |
| KOHA link: | https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=660819 |
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| 200 | 1 | |a Numerical Simulation of Visually Guided Landing Based on a Honeybee Motion Model |f A. A. Khamukhin | |
| 203 | |a Text |c electronic | ||
| 300 | |a Title screen | ||
| 320 | |a [References: 36 tit.] | ||
| 330 | |a We verified the validity of a bio-inspired strategy for visually guided landing and its mathematical model proposed M.V. Srinivasan et al. by numerical simulation. We studied the influence of temporal discretization and the values of the supported optical flow on the landing duration and its result (from smooth to crash). An algorithm for landing simulation was developed taking into account accepted assumptions of the model. Two formulas (sine and tangent) were derived to calculate the distance and the speed of the flying robot, ensuring the constancy of the optical flow at given time steps. A limitation was found in the very value of the optical flow (threshold value), when exceeding this, the strategy leads to a hard touchdown or a crash (at near zero distance the speed is not close to zero). It was shown that the threshold value of the optical flow decreases with increasing time step in both formulas. However, calculating the distance using sine formula has a significantly lower threshold value of the optical flow than the calculation using the tangent formula. It was found that landing occurs faster if we use the sine formula at equal values of the optical flow. Nevertheless, the smooth landing ends at lower threshold values of the optical flow than using the tangent formula. As a result, using a larger value of the optical flow, a faster smooth landing can be achieved using the tangent formula. | ||
| 333 | |a Режим доступа: по договору с организацией-держателем ресурса | ||
| 461 | |t Journal of Intelligent & Robotic Systems | ||
| 463 | |t Vol. 95, iss. 2 |v [P. 665-674] |d 2019 | ||
| 610 | 1 | |a электронный ресурс | |
| 610 | 1 | |a труды учёных ТПУ | |
| 610 | 1 | |a bio-inspired landing | |
| 610 | 1 | |a optical flow | |
| 610 | 1 | |a numerical simulation | |
| 610 | 1 | |a computer vision | |
| 610 | 1 | |a flying robots | |
| 610 | 1 | |a оптические потоки | |
| 610 | 1 | |a численное моделирование | |
| 610 | 1 | |a компьютерное зрение | |
| 610 | 1 | |a летающие роботы | |
| 700 | 1 | |a Khamukhin |b A. A. |c specialist in the field of Informatics and computer engineering |c Associate Professor of Tomsk Polytechnic University, candidate of technical sciences |f 1954- |g Aleksandr Anatolievich |3 (RuTPU)RU\TPU\pers\33694 |9 17325 | |
| 712 | 0 | 2 | |a Национальный исследовательский Томский политехнический университет |b Инженерная школа информационных технологий и робототехники |c 2017- |x TPU |7 ca |8 rus |9 28330 |
| 801 | 2 | |a RU |b 63413507 |c 20191025 |g RCR | |
| 856 | 4 | |u https://doi.org/10.1007/s10846-018-0960-z | |
| 942 | |c CF | ||