An LGMD Based Competitive Collision Avoidance Strategy for UAV - Artificial Intelligence Applications and Innovations Access content directly
Conference Papers Year : 2019

An LGMD Based Competitive Collision Avoidance Strategy for UAV

Jiannan Zhao
  • Function : Author
  • PersonId : 1056851
Xingzao Ma
  • Function : Author
  • PersonId : 1056852
Qinbing Fu
  • Function : Author
  • PersonId : 1056853
Cheng Hu
  • Function : Author
  • PersonId : 1056854
Shigang Yue
  • Function : Author
  • PersonId : 1056821


Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of miles without collision. In the locust’s brain, a visual pathway of LGMD-DCMD (lobula giant movement detector and descending contra-lateral motion detector) has been identified as collision perception system guiding fast collision avoidance for locusts, which is ideal for designing artificial vision systems. However, there is very few works investigating its potential in real-world UAV applications. In this paper, we present an LGMD based competitive collision avoidance method for UAV indoor navigation. Compared to previous works, we divided the UAV’s field of view into four subfields each handled by an LGMD neuron. Therefore, four individual competitive LGMDs (C-LGMD) compete for guiding the directional collision avoidance of UAV. With more degrees of freedom compared to ground robots and vehicles, the UAV can escape from collision along four cardinal directions (e.g. the object approaching from the left-side triggers a rightward shifting of the UAV). Our proposed method has been validated by both simulations and real-time quadcopter arena experiments.
Fichier principal
Vignette du fichier
483292_1_En_6_Chapter.pdf (4.84 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-02331342 , version 1 (24-10-2019)





Jiannan Zhao, Xingzao Ma, Qinbing Fu, Cheng Hu, Shigang Yue. An LGMD Based Competitive Collision Avoidance Strategy for UAV. 15th IFIP International Conference on Artificial Intelligence Applications and Innovations (AIAI), May 2019, Hersonissos, Greece. pp.80-91, ⟨10.1007/978-3-030-19823-7_6⟩. ⟨hal-02331342⟩
40 View
11 Download



Gmail Facebook X LinkedIn More