Abstract
This paper describes a formal model of a dynamic and egocentric memory used for predicting the evolution of a local function of proximity. This model is represented by a polar function able to trig the reactive behaviors (reflex actions for collision avoidance) of a planar mobile robot. It also addresses the implementation of this model with an artificial neural network first on a simulator that has been developed in order to test this model and also on a real holonomic autonomous robot.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
R.A. Brooks “Robot Beings”, International Workshop on Intelligent Robots and Systems '89, Sep 1989, Tsukuba, Japon.
T.L. Anderson “Autonomous Robots and Emergent behaviors: A Set of Primitives Behaviors for Mobile Robot Control”,IROS'90, Tsukuba 1990, Japan
M. Soldo “Reactive and Preplanned Control in a Mobile Robot”, Proc. IEEE Int. Conf. on Rob. and Aut.,Cincinnati, Ohio, USA, May 90
D.T. Lawton, R.C. Arkin, J.M. Cameron “Qualitative Spatial understanding and Reactive Control for Autonomous Robot”, IROS'90, Tsukuba 90, Japan
B. Espiau & al, ”Nouvelle approche de la relation vision-commande en robotique”, rapport INRIA RR-1172, 1990
Holenstein, E. Badreddin “Collision Avoidance in a Behavior-based Mobile Robot Design”, Proc. IEEE Int. Conf. on Rob. and Aut., Sacramento, California, April 1991.
R.Zapata ”Quelques aspects topologiques de la Planification de Mouvements et des Actions Reflexes en Robitique Mobile”, These d'etat, Université Montpellier II, July 91, France.
R.Zapata, P.Lépinay, P. Thompson ”Reactive Behaviors of Fast Mobile Robots”, Journal of Robotic Systems, January 1994
R. Isaacs “Differential Games”, John Wiley and Sons, Inc., New York 1965.
P. Lépinay, R. Zapata, B.Jouvencel: ”Sensor-based Control of the Reactive Behaviors of Walking Machines”, International Conference IECON'93, Maui, Hawaii, December 1993
P.Deplanques, C. Novales, R. Zapata, B. Jouvencel “Sensor-based control versus neural network technology for the control of fast mobile robots behaviors in unstructured environments” IECON'92, Nov 92, San Diego, Volume 2.
J. Droulez, A. Berthoz “Concept of Dynamic Memory in Sensorimotor Control”, Motor Control: concepts and Issues, John Wiley & Sons Ltd
C. Samson and al. “Robot Control: The Task Function Approach”, Oxford, Clarendon Press 1991.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1995 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Zapata, R., Lépinay, P., Déplanques, P. (1995). Collision avoidance using an egocentric memory of proximity. In: Morán, F., Moreno, A., Merelo, J.J., Chacón, P. (eds) Advances in Artificial Life. ECAL 1995. Lecture Notes in Computer Science, vol 929. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-59496-5_330
Download citation
DOI: https://doi.org/10.1007/3-540-59496-5_330
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-59496-3
Online ISBN: 978-3-540-49286-3
eBook Packages: Springer Book Archive