Integration of an Omnidirectional Visual System with the Control Architecture of Psikharpax

Authors:
Loic Lacheze;Ryad Benosman;Jean-Arcady Meyer
Affiliations:
ISIR, FRE2507, Université Pierre et Marie Curie -Paris 6, Paris, France F-75016;ISIR, FRE2507, Université Pierre et Marie Curie -Paris 6, Paris, France F-75016;ISIR, FRE2507, Université Pierre et Marie Curie -Paris 6, Paris, France F-75016
Venue:
SAB '08 Proceedings of the 10th international conference on Simulation of Adaptive Behavior: From Animals to Animats
Year:
2008

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Abstract

This article describes the robotic integration of a robust omnidirectional visual system with a control architecture inspired by neural structures in a rat's brain. The visual system relies on an optimal recursive sampling of images into subimages that remains stable under translation and makes self-localization and object recognition possible. The control architecture affords navigation and action selection capacities. The operationality of both systems is demonstrated through a series of experiments assessing their capacity to maintain the energy level of a robot within the limits of a given viability zone.