A behaviour for moving the robot away from obstacles by applying a virtual force field comprised of repulsive and attractive forces based on time-to-impact estimates derived from LGMD inputs. More...
#include <Robots/LoBot/control/LoLGMDExtricateTTI.H>
Classes | |
| struct | Command |
Friends | |
| class | subfactory< LGMDExtricateTTI, base > |
A behaviour for moving the robot away from obstacles by applying a virtual force field comprised of repulsive and attractive forces based on time-to-impact estimates derived from LGMD inputs.
This class implements a behaviour designed to move lobot away from obstacles obstructing its path by applying the virtual force field concept on distance "readings" derived from time-to-impact (TTI) estimates for each (real or virtual) locust connected to the robot.
Since LGMD spikes are related to the TTI of approaching objects, we can use Bayesian state estimation to determine the TTI given the current spike rate. Combining this TTI with the motor system's velocity info allows us to compute the distance to obstacles for each locust direction, in effect, converting our array of visual collision detectors into a range sensor.
Once we have distance estimates, we can build a virtual force field wherein distances above a threshold represent attractive forces and distances below the same threshold exert repulsive forces. The attractive and repulsive forces are then combined to produce a vector that is used to decide on an appropriate steering command.
Definition at line 113 of file LoLGMDExtricateTTI.H.
1.6.3