Abstract
This paper reports one engineering application of moving characteristics of slime mold (multi-cellar) amoeba for autonomous obstacle avoidance through flexible deformation. The remarkable characteristic of slime mold is that transforms from unicellular period to multi-cellular period according to the state of environment. Such characteristics become one idea for the difficulty of distributed autonomous robot’s system, such as environmental recognition, cooperative behaviors, and self-organized system control. This paper proposes Amoeba Model, and applies to obstacle avoidance as an example of spatial searching environment. The proposed model consists of new field technique named as the Vibrating Potential Field and new parameter tuning method inspired from thermo-dynamics. The computational application for creep through narrow path shows advantages of the model and derives powerful characteristics for walking behavior on rough road through cooperation of unit group.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
F. Siegert and C. J. Weijer: Three-dimensional scroll waves organize Dictyostelium slugs, Developmental Biology, Proc. Natl. Acad. Sci. USA, Vol. 89, pp. 6433–6437 (1992).
O. Steinbock, F. Siegert, S. C. Muller, and C. J. Weijer: Three-dimensional waves of exitation during Dictyostelium morphogenesis, Biophysics, Proc.Natl.Acad.Sci.USA, Vol. 90, pp. 7332–7335 (1993).
Pankaj Agarwal: Simulation of Aggregation in Dictyostelium Using the Cell Programming Language, Comput. Appl. Biosci., Vol. 10, No. 6, pp. 647–655, (1994).
M.W. Shaw: Simulation of population expansion and spatial pattern when individual dispersal distributions do not decline exponentially with distance,The Royal Society, Proc. R. Soc. Lond. B259, pp. 243–248, (1995).
Tomoaki Abe, Anne Early, Florian Siegert, Cornelis Weijer, and Jeffrey Williams: Patterns of Cell Movement within the Dictyostelium Slug Revealed by Cell Type-Specific, Surface Labeling of Libing Cells, Cell Press, Cell, Vol. 77, pp. 687–699, (1994).
H. Yokoi, and Y. Kakazu, An Approach to the Traveling Salesman Problem by a Bionic Model,“ HEURISTICS, The Journal of Knowledge Engineering, pp. 13–27, (1992).
Schwartz,J.T. and Sharir,M.: On the Piano Movers’ Problem: III. Coordinating the Motion of Several Independent Bodies: The Special Case of Circular Bodies Moving Amidst Polygonal Barriers, The International Journal of Robotics Research, Vol. 2, No. 3 (1983).
Arkin,R.C.: Integrating Behavioral, Perceptual, and World Knowledge in Reactive Navigation, North-Holland, Robotics and Autonomous Systems, 6, pp. 105–122, (1990).
Jean-Claude Latombe: Robot Motion Planning, Kluwer Academic Publishers, pp. 356–402, (1991).
Koyama, H., Maeda, Y., Fukami, S., and Takagi, T.: Study of Obstacle Avoidance Problem for Mobile Robot Using Fuzzy Production System, JRSJ, vol. 9, No. 1, pp. 75–78, (1991).
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1996 Springer Japan
About this paper
Cite this paper
Yokoi, H., Mizuno, T., Takita, M., Kakazu, Y. (1996). Amoeba Like Grouping Behavior for Autonomous Robots Using Vibrating Potential Field (Obstacle Avoidance on Uneven Road). In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems 2. Springer, Tokyo. https://doi.org/10.1007/978-4-431-66942-5_19
Download citation
DOI: https://doi.org/10.1007/978-4-431-66942-5_19
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-66944-9
Online ISBN: 978-4-431-66942-5
eBook Packages: Springer Book Archive