This work presents a concept of intelligent vision-less micro-drones, which are motivated by flying animals such as insects, birds, and bats. The presented micro-drone (named BAT: Blind Autonomous Tiny-drone) can perform bio-inspired complex tasks without the use of cameras. The BAT uses LIDARs and self-emitted optical-flow in order to perform obstacle avoiding and maze-solving. The controlling algorithms were implemented on an onboard micro-controller, allowing the BAT to be fully autonomous. We further present a method for using the information collected by the drone to generate a detailed mapping of the environment. A complete model of the BAT was implemented and tested using several scenarios both in simulation and field experiments, in which it was able to explore and map complex building autonomously even in total darkness.

中文翻译：

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自主微型无人机的 ision-Less 传感

这项工作提出了智能无视觉微型无人机的概念，其动力来自昆虫、鸟类和蝙蝠等飞行动物。所展示的微型无人机（名为 BAT：Blind Autonomous Tiny-drone）可以在不使用相机的情况下执行受生物启发的复杂任务。BAT 使用激光雷达和自发射光流来执行避障和解迷宫。控制算法在板载微控制器上实现，使 BAT 能够完全自主。我们进一步提出了一种使用无人机收集的信息来生成环境详细映射的方法。在模拟和现场实验中，使用多种场景实施和测试了 BAT 的完整模型，即使在完全黑暗的情况下，它也能够自主探索和绘制复杂的建筑物。