A bio-plausible design for visual attitude stabilization

被引：13

作者：

Censi, Andrea ^{[1
]}

Han, Shuo ^{[1
]}

Fuller, Sawyer B. ^{[1
]}

Murray, Richard M. ^{[1
]}

机构：

[1] CALTECH, Div Engn & Appl Sci, MC 107-81,1200 E Calif Blvd, Pasadena, CA 91125 USA

来源：

PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年

关键词：

D O I：

10.1109/CDC.2009.5400408

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We consider the problem of attitude stabilization using exclusively visual sensory input, and we look for a solution which can satisfy the constraints of a "bio-plausible" computation. We obtain a PD controller which is a bilinear form of the goal image, and the current and delayed visual input. Moreover, this controller can be learned using classic neural networks algorithms The structure of the resulting computation, derived from general principles by imposing a bilinear computation, has striking resemblances with existing models for visual information processing in insects (Reichardt Correlators and lobula plate tangential cells). We validate the algorithms using faithful simulations of the fruit fly visual input.

引用

页码：3513 / 3520

页数：8