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Bio-inspired behaviour-based control

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Abstract

The design and development of conventional controllers for robot platforms are sometimes too complex to achieve due to the fact that they require an exact model of the system and of the operating environment. The ability to pre-account for unknown operating environments is an important task for the controller to be robust. In contrast, biological controllers are model free and are based on simple working principles. Due to natural biological principles these controllers are adaptive and more robust than their conventional counterparts. In this paper, a behaviour-based controller has been developed, inspired by the concept of spinal fields found in frogs and rats. The performance of the controller has been verified on a Khepera robot platform.

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Authors and Affiliations

  1. School of Computing and Intelligent Systems, University of Ulster, Londonderry, BT48 7JL, UK

    Nazmul H. Siddique

  2. Mechanistic Research, Procter & Gamble, 460 Basingstoke Road, Reading, RG2 0QE, UK

    Balasundram P. Amavasai

Authors
  1. Nazmul H. Siddique
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  2. Balasundram P. Amavasai
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Correspondence to Nazmul H. Siddique.

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Siddique, N.H., Amavasai, B.P. Bio-inspired behaviour-based control. Artif Intell Rev 27, 131–147 (2007). https://doi.org/10.1007/s10462-008-9092-3

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  • DOI: https://doi.org/10.1007/s10462-008-9092-3

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