摘要
针对仿信鸽归巢行为的导航技术,本文首先简要叙述了信鸽归巢行为,并从地图和罗盘导航、视觉地标导航2个方面分析了信鸽导航的行为学实验和导航机制。随后,介绍了几种具有代表性的模拟信鸽归巢行为的理论模型和仿真模型。基于信鸽归巢导航行为机制和位置熵理论,提出了一种动态切换三阶段信鸽归巢模型,分别与信鸽归巢中的地图罗盘导航、步长重定向和马赛克地图导航行为建立映射关系,并给出了归巢导航模型仿真结果。最后,从信鸽归巢导航行为与无人机自主导航相似性出发,建立了信鸽归巢行为模型到无人机自主导航的机制映射,并探讨了仿信鸽归巢行为的导航技术未来研究方向。
Toward homing pigeon(Columba Livia)inspired navigation technology,we first introduce behaviors of homing pigeons and analyze the behavioral experiments and mechanisms of map-and-compass navigation and visual-landmark navigation,respectively,in this paper,then describe the representative simulation and theoretical models of homing pigeons.Based on the homing behavior mechanism and position entropy theory,we propose a dynamic switching three-stage homing model,establishing a mapping relationship among the behaviors of map-and-compass navigation,leg length redirection,and mosaic map navigation and providing the simulation results of the proposed homing navigation model.Finally,based on the similarity between the homing behavior of homing pigeons and autonomous navigation of a UAV,we establish the mechanism mapping from the homing behavior model of homing pigeons to autonomous navigation of a UAV,and discuss the future research direction of navigation technology imitating the homing behavior of homing pigeons.
作者
段海滨
辛龙
邓亦敏
DUAN Haibin;XIN Long;DENG Yimin(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China;Peng Cheng Laboratory,Shenzhen 518000,China)
出处
《智能系统学报》
CSCD
北大核心
2021年第1期1-10,共10页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金项目(U1913602,U20B2071,91948204,U19B2033)
科技创新2030-“新一代人工智能”重大项目(2018AAA0100803)。
