Control of a Braitenberg Lizard in a Phonotaxis Task with Decision Models

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Abstrakt

The peripheral auditory system of a lizard has strong directionality in the azimuth plane. In earlier work, a lumped-parameter model of this system has been derived. More recently, this model has been implemented as a set of coupled digital filters, and has been successfully used to control a Braitenberg vehicle–like mobile robot without any decision model in a phonotaxis task. In this paper we extend the Braitenberg vehicle model to include two separate decision models in the control and recreate the phonotaxis task. We compare the performance of the robot, in terms of successful phonotaxis exhibited and the directness of the trajectories, for the two different models at control loop frequencies of 1Hz, 3Hz, 10Hz and 30Hz. We conclude that the overall performance of both models is comparable.
OriginalsprogEngelsk
TitelProceedings of Towards Autonomous Robotic Systems
RedaktørerTheocharis Kyriacou, Ulrich Nehmzow, Chris Melhuish, Mark Witkowski
Antal sider7
ForlagIntelligent Systems Research Centre, University of Ulster
Publikationsdato2009
Sider48-54
StatusUdgivet - 2009
BegivenhedTowards Autonomous Robotic Systems, TAROS 2009 - Londonderry, Storbritannien
Varighed: 31. aug. 20093. sep. 2009
Konferencens nummer: 10

Konference

KonferenceTowards Autonomous Robotic Systems, TAROS 2009
Nummer10
Land/OmrådeStorbritannien
ByLondonderry
Periode31/08/200903/09/2009
NavnTechnical Report Series
ISSN2041-6407

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