A bio-inspired analog scheme for navigational control of lightweight autonomous agents (2008)
| Venue: | in Proceedings of IEEE International Conference on Robotics and Automation (ICRA ’08 |
| Citations: | 1 - 1 self |
BibTeX
@INPROCEEDINGS{Zourntos08abio-inspired,
author = {Takis Zourntos and Nebu John Mathai and Sebastian Magierowski and Deepa Kundur},
title = {A bio-inspired analog scheme for navigational control of lightweight autonomous agents},
booktitle = {in Proceedings of IEEE International Conference on Robotics and Automation (ICRA ’08},
year = {2008},
pages = {1132--1137}
}
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Abstract
Abstract — We present an approach for the development of lightweight analog cognition for autonomous navigation in unknown environments. We consider a hypothetical differential drive robot, equipped with a limited sensor suite that includes one front and one rear monocular obstacle sensor and a target (bearing and distance) sensor. A robotic motion control scheme is developed for obstacle avoidance and target-seeking using an innovative dynamical systems architecture incorporating a nonlinear controller derived using Lyapunov techniques. We claim that the avoidance-steering behavioral property of the agent is a weakly emergent characteristic. Simulations are provided and discussed. I.
