Visual flight control of a quadrotor using bioinspired motion detector

Publication: Research - peer-reviewJournal article – Annual report year: 2012

Without internal affiliation



  • Author: Zhang, Lei

    Technische Universität München, Germany

  • Author: Zhang, Tianguang

    Technische Universität München, Germany

  • Author: Wu, Haiyan

    Technische Universität München

  • Author: Borst, Alexander

    Max Planck Institute, Germany

  • Author: Kühnlenz, Kolja

    Technische Universität München, Germany

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Motion detection in the fly is extremely fast with low computational requirements. Inspired from the fly's vision system, we focus on a real-time flight control on a miniquadrotor with fast visual feedback. In this work, an elaborated elementary motion detector (EMD) is utilized to detect local optical flow. Combined with novel receptive field templates, the yaw rate of the quadrotor is estimated through a lookup table established with this bioinspired visual sensor. A closed-loop control system with the feedback of yaw rate estimated by EMD is designed. With the motion of the other degrees of freedom stabilized by a camera tracking system, the yaw-rate of the quadrotor during hovering is controlled based on EMD feedback under real-world scenario. The control performance of the proposed approach is compared with that of conventional approach. The experimental results demonstrate the effectiveness of utilizing EMD for quadrotor control.
Original languageEnglish
JournalInternational Journal of Navigation and Observation
Pages (from-to)Article ID: 627079
Number of pages9
StatePublished - 2012
Externally publishedYes

Bibliographical note

Copyright © 2012 Lei Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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