Autonomous Ceiling-Following Using Biomimetic Vibrissal Sensors on a Quadrotor

Abstract

Low visibility in hard-to-reach environments, such as natural caves and tunnels, poses challenges for exploration due to the limited effectiveness of traditional sensors, such as cameras and distance sensors. Nature offers a solution to this problem embedded in the body of nocturnal animals in the form of vibrissal sensors, whiskers. In this study, we take inspiration from this principle and develop artificial biomimetic whiskers to aid quadrotors' navigation. Specifically, we design and control a whiskered drone for ceiling contour-following tasks, enabling tactile tracing of rugged ceilings while mitigating aerodynamic disturbances like the "ceiling effect". The proposed whiskered drone design allows for multiple whiskers in various orientations, providing real-time tactile feedback to guide the ceiling-following controller. Flight experiments validate the system's effectiveness in navigating both smooth and rugged ceilings, demonstrating the potential for whisker-based tactile navigation and future autonomy.