Neural fields for complex behavior generation on autonomous robots

Authors:
Mohamed Oubbati;Wolfgang Holoch;Günther Palm
Affiliations:
Institute of Neural Information Processing, Faculty of Computer Science, University of Ulm, Ulm, Germany;Institute of Neural Information Processing, Faculty of Computer Science, University of Ulm, Ulm, Germany;Institute of Neural Information Processing, Faculty of Computer Science, University of Ulm, Ulm, Germany
Venue:
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
Year:
2009

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Abstract

In this paper we investigate how neural fields can generate complex behavior in mobile robot navigation. A case study is presented in which a mobile robot endowed with sonars and a laserscanner performs the behaviors target-acquisition, obstacle-avoidance, and subtarget-selection. The design of these behaviors as well as their coordination are achieved through correct choice of stimulus parameters on the field. We describe the approach in theoretical terms, supported by experimental results.