Fig. 4: The bio-CE equipped unmanned omnidirectional vehicle (UOV) and obstacle avoidance in a comprehensive scenario.
From: An insect-scale artificial visual-olfactory bionic compound eye
A Photograph of a UOV and its components; B Schematic diagram of the range of the azimuth and elevation angles covered by bio-CE; C Influence of different target shape, position, distance, number, and test conditions on bio-CE imaging form; D Block diagram of UOV workflow, including bio-CE addressing data acquisition, FPGA real-time frame processing, parameters reading by the host computer, and motion control of the omnidirectional chassis; E Image of bio-CE equipped UOV in a comprehensive simulated scenario; The as-prepared UOV can make avoidance or retreat to rapidly approaching targets in different directions (F, G), or achieve steering and evasion during autonomous cruising (H, I).
