Aerial Vehicles (2009) by Thanh Mung Lam (Editor)

Aerial Vehicles (2009) by Thanh Mung Lam (Editor)

By Thanh Mung Lam (Editor)

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With object tracking, each linked obstacle in the world gets a unique ID that remains constant over time, if the tracking is successful. The merging and tracking step can be skipped for linked objects whose coordinates are completely outside the zones where a grid exists since there will be no update. Due to sensor updates it is possible that a linked object becomes split. Usually, one of the new objects gets the old ID, the others receive the new IDs. If multiple linked objects are merged together over time, one ID is kept and the others removed.

In discrete time we may consider that a sampling frequency 100 times higher than the system cut-off frequency would give results similar to continuous time. An equivalent sampling frequency of about 32 Hz could be sufficient. 5kHz as the nominal sampling. 2 Digital specifications In feedback control loops, the digital specifications were mainly defined for EMDs design (i) and controllers design (ii). ) without modifying the control loops operation. Field Programmable Gate Array (FPGA) for Bio-inspired visuo-motor control systems applied to Micro-Air Vehicles 41 In EMDs (i), the digital specifications were found during the filter design.

Two pixels) driving an Elementary Motion Detector (EMD) circuit. Each eye consists of two photoreceptors mounted slightly defocused behind a lens, which creates a bell-shaped Angular Sensitivity Function (ASF) for each of them (Hardie, 1985). e. the angular width at half height). The ASF plays an important role in the visual processing chain, because it serves as an effective low pass anti-aliasing spatial filter. The visual axes of each pixel are separated by an inter-receptor angle Δϕ = 4°. The EMD principle was originally based on the results of experiments in which a combined electrophysiological and micro-optical approach was used.

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