在空中追逐中避开障碍物.
Caroline H Brighton1, James A Kempton1, Lydia A France2
1Department of Biology, University of Oxford, OX1 3SZ Oxford, UK.
Current biology : CB
|July 8, 2023
概括
哈里斯通过将目标追逐与避开障碍相结合,在复杂的环境中导航. 他们使用偏向引导法调整飞行路径,在跟踪猎物时保持与障碍物安全距离.
科学领域:
- 行为生态学 行为生态学
- 生物物理学的生物物理.
背景情况:
- 在混乱的环境中追捕猎物需要复杂的指导,既可以跟踪目标,也可以避开障碍.
- 哈里斯 (Parabuteo unicinctus) 表现出追逐行为,这些行为通常是通过使用目标偏差和视线率的混合引导规律来建模的.
研究的目的:
- 为了调查哈里斯如何在绕过障碍物时修改它们的追逐策略.
- 分析在阻塞的飞行路径中使用的引导机制.
主要方法:
- 利用高速运动捕捉来记录和重建哈里斯的3D飞行轨迹.
- 分析了来自阻碍追击场景的飞行数据,这些场景涉及机动目标.
主要成果:
- 猎在受阻飞行期间使用相同的混合引导法来追逐目标.
- 叠加一个离散偏移命令,将飞行指向一个大约一翼长的空隙,从一定距离值以上的障碍物.
- 这一战略有效地优先考虑了避免障碍,同时保持目标锁定.
结论:
- 哈里斯将反 (目标运动) 和前 (障碍近距离) 命令集成为动态导航.
- 鉴定到的偏向指导法为在拦截或导航的无人机等自主系统中避免障碍提供了一个潜在的机制.
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