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JRM Vol.20 No.1 pp. 68-74
doi: 10.20965/jrm.2008.p0068
(2008)

Paper:

Bio-Inspired Real-Time Robot Vision for Collision Avoidance

Hirotsugu Okuno and Tetsuya Yagi

Division of Electrical, Electronic and Information Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Received:
March 22, 2007
Accepted:
July 2, 2007
Published:
February 20, 2008
Keywords:
collision avoidance, robot vision, bio-inspired, silicon retina
Abstract

A mixed analog-digital integrated vision sensor was designed to detect an approaching object in real-time. To respond selectively to approaching stimuli, the sensor employed an algorithm inspired by the visual nervous system of a locust, which can avoid collisions robustly by using visual information. An electronic circuit model was designed to mimic the architecture of the locust nervous system. Computer simulations showed that the model provided appropriate responses for collision avoidance. We implemented the model with a compact hardware system consisting of a silicon retina and field-programmable gate array (FPGA) circuits; the system was confirmed to respond selectively to approaching stimuli that constituted a collision threat.

Cite this article as:
H. Okuno and T. Yagi, “Bio-Inspired Real-Time Robot Vision for Collision Avoidance,” J. Robot. Mechatron., Vol.20, No.1, pp. 68-74, 2008.
Data files:
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Last updated on Feb. 17, 2020