Avoiding obstacles while intercepting a moving target: A miniature fly's solution

The miniature robber fly Holcocephala fusca intercepts its targets using a system whose behaviour is approximated by the proportional navigation guidance law. During predatory trials, we challenged Holcocephala's interception performance by placing a large object in its potential flight path. In response, Holcocephala deviated from the path predicted by pure-proportional navigation, but in many cases still eventually contacted the target. We show that such flight deviations can be explained as the output of two competing navigational systems; pure-proportional navigation and a simple obstacle avoidance algorithm. Obstacle avoidance by Holcocephala is here described by a simple feedback loop that uses the visual expansion of the approaching obstacle to mediate the magnitude of the turning-away response. We name the integration of this this steering law with pro-nav \"Combined Guidance\". The results demonstrate that predatory intent does not operate a monopoly on the fly's steering when at...