Vision as a Compensatory Mechanism for Disturbance Rejection in Upwind Flight
Michael B. Reiser, J. Sean Humbert, Mary J. Dunlop, Domitilla Del Vecchio, Richard M. Murray, Michael H. Dickinson
2004 American Control Conference
Recent experimental results demonstrate that flies posses a robust tendency to orient towards
the frontally-centered pole of the visual motion field that typically occurs during upwind flight.
In this paper we present a closed loop flight model, with a control algorithm based on feedback
of the location of the visual pole of contraction, which is affected by changes in wind direction.
The feasibility of visually guided upwind orientation is demonstrated with a model derived
from current understanding of the biomechanics and sensorimotor computation of insects. The
matched filter approach used to model the visual system computations compares extremely well
with open-loop experimental data.
Conference Paper (PDF, 6 pages, 700K)
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