Abstract
Here we present the first systematic comparison between the
visual guidance behaviour of a biomimetic robot and those of honeybees flying
in similar environments. We built a miniature hovercraft which can travel
safely along corridors with various configurations. For the first time, we
implemented on a real physical robot the 'lateral optic flow regulation
autopilot', which we previously studied computer simulations. This autopilot
inspired by the results of experiments on various species of hymenoptera
consists of two intertwined feedback loops, the speed and lateral control
loops, each of which has its own optic flow (OF) set-point. A heading-lock
system makes the robot move straight ahead as fast as 69 cm s−1 with a
clearance from one wall as small as 31 cm, giving an unusually high
translational OF value (125° s−1). Our biomimetic robot was found to navigate
safely along straight, tapered and bent corridors, and to react appropriately
to perturbations such as the lack of texture on one wall, the presence of a
tapering or non-stationary section of the corridor and even a sloping terrain
equivalent to a wind disturbance.