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

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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.
Original languageEnglish
Title of host publicationProceedings of Towards Autonomous Robotic Systems
EditorsTheocharis Kyriacou, Ulrich Nehmzow, Chris Melhuish, Mark Witkowski
Number of pages7
PublisherIntelligent Systems Research Centre, University of Ulster
Publication date2009
Publication statusPublished - 2009
EventTowards Autonomous Robotic Systems, TAROS 2009 - Londonderry, United Kingdom
Duration: 31. Aug 20093. Sep 2009
Conference number: 10


ConferenceTowards Autonomous Robotic Systems, TAROS 2009
Country/TerritoryUnited Kingdom
SeriesTechnical Report Series


  • Braitenberg vehicles, phonotaxis, lizard ear model

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