Development Of Pigeon Flight Controller Based On Feedback Of Trajectory Deviation

Animal-robots have many advantages,such as high concealment,strong ability of autonomous obstacle avoidance,high flexibility,and strong environmental adaptability.These advantages are incomparable to electromechanical robots,and therefore,animal-robots have attracted wide attention.This thesis designs a pigeon flight controller based on feedback of trajectory deviation.It is combined with global positioning system and chooses pigeons as experimental animals,which have excellent space navigation capability and the ability to fly long distances with weight.This controller can calculate the deviation between the current position of the pigeon and the pre-planned path based on the real-time positioning information.According to the deviation distance and the deviation direction,this controller applies different micro current stimulation pulses to the target brain areas of the pigeon to adjust its trajectory.Thus,a closed-loop control system based on the real-time trajectory deviation for neural regulation of pigeon is formed.The function of controlling the pigeon to fly according to the pre-planned path is finally realized.In addition,this controller can also record the flight trajectory of the pigeon in text format to a micro SD card for later analysis of pigeon flight behavior.The main work of this thesis is as follows:(1)According to the requirements of the pigeon-robot in the outdoor application scenarios,the overall scheme design of the controller is completed.At the same time,considering the biological characteristics of the pigeon's autonomous motional intention and the pigeon's nerve fatigue effect during continuous electrical stimulation,a control strategy suitable for the pigeon-robot is designed.(2)The software and hardware design of the pigeon flight controller is completed,including the selection,circuit design and programming of the positioning module,the core control module and the micro current stimulation module.The controller with the characteristics of miniaturization,light weight and low power consumption is manufactured,and the requirements of pigeon-robot in practical application scenarios are met.In addition,the GPS information display program is also completed,which is used for reading the pigeon flight trajectory record document and displaying the flight path of the pigeon on the map.(3)The test of the pigeon flight controller has been completed.Firstly,the functions of the controller are tested separately.The positioning function and trajectory information recording function of the controller are tested by the outdoor pigeon flight experiment without any control,and then the pulse output function of the controller is tested by the method of preset positioning information.The results show that the functions of each part of the controller can work normally and meet the expected design requirements.Finally,the flight control experiments of pigeons are carried out,and the pigeons implanted with stimulation electrodes in formatio reticularis medialis mesencephalic are used for outdoor experiments.The results show that the controller runs stably and can automatically control the flight behavior of pigeons according to the pre-planned path.The expected design goal of the pigeon flight controller is achieved.