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4 results for “guidance law”
Attack behaviour in naive Gyrfalcons is modelled by the same guidance law as in Peregrines, but at a lower guidance gain
<p>The aerial hunting behaviours of birds are strongly influenced by flight morphology and ecology, but little is known of how this relates to the behavioural algorithms guiding flight. Here we use GPS loggers to record the attack trajectories of captive-bred Gyrfalcons (<i>Falco rusticolus</i>) during their maiden flights against robotic aerial targets, which we compare to existing flight data from Peregrines (<i>Falco peregrinus</i>). The attack trajectories of both species are well modelled by a proportional navigation (PN) guidance law, which commands turning in proportion to the angular rate of the line-of-sight to target, at a guidance gain <i>N</i><span><span></span></span>. However, naïve Gyrfalcons operate at significantly lower values of <i>N</i><span><span></span></span> than Peregrines, producing slower turning and a longer path to intercept. Gyrfalcons are less manoeuvrable than Peregrines, but physical constraint is insufficient to explain the lower values of <i>N</i><span><span></span></span> we found, which may reflect either the inexperience of the individual birds or ecological adaptation at the species level. For example, low values of <i>N</i><span><span></span></span> promote the tail-chasing behaviour that is typical of wild Gyrfalcons and which apparently serves to tire their prey in a prolonged high-speed pursuit. Likewise, during close pursuit of typical fast evasive prey, PN will be less prone to being thrown off by erratic target manoeuvres at low guidance gain. The fact that low-gain PN successfully models the maiden attack flights of Gyrfalcons suggests that this behavioural algorithm is embedded in a guidance pathway ancestral to the clade containing Gyrfalcons and Peregrines, though perhaps with much deeper evolutionary origins.</p>
Data from: Terminal attack trajectories of peregrine falcons are described by the proportional navigation guidance law of missiles
The ability to intercept uncooperative targets is key to many diverse flight behaviors, from courtship to predation. Previous research has looked for simple geometric rules describing the attack trajectories of animals, but the underlying feedback laws have remained obscure. Here, we use GPS loggers and onboard video cameras to study peregrine falcons, Falco peregrinus, attacking stationary targets, maneuvering targets, and live prey. We show that the terminal attack trajectories of peregrines are not described by any simple geometric rule as previously claimed, and instead use system identification techniques to fit a phenomenological model of the dynamical system generating the observed trajectories. We find that these trajectories are best—and exceedingly well—modeled by the proportional navigation (PN) guidance law used by most guided missiles. Under this guidance law, turning is commanded at a rate proportional to the angular rate of the line-of-sight between the attacker and its target, with a constant of proportionality (i.e., feedback gain) called the navigation constant (N). Whereas most guided missiles use navigation constants falling on the interval 3 ≤ N ≤ 5, peregrine attack trajectories are best fitted by lower navigation constants (median N < 3). This lower feedback gain is appropriate at the lower flight speed of a biological system, given its presumably higher error and longer delay. This same guidance law could find use in small visually guided drones designed to remove other drones from protected airspace.
Attack behaviour in naive Gyrfalcons is modelled by the same guidance law as in Peregrines, but at a lower guidance gain
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Data from: Terminal attack trajectories of peregrine falcons are described by the proportional navigation guidance law of missiles
Open the record for dataset details and reuse information.
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