A coupled reaction-diffusion field model for perception-action cycle with applications to robot navigation
Date
2008
Authors
Aidman, E.
Ivancevic, V.
Jennings, A.
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Journal article
Citation
International Journal of Intelligent Defence Support Systems, 2008; 1(2):93-115
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Eugene Aidman, Vladimir Ivancevic and Andrew Jennings
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Abstract
A generalised reaction-diffusion field model for robot navigation is proposed. It utilises two mutually antagonistic neural fields counteracting in patterns similar to that of flexor/extensor muscles controlling the movements in major joints in the human body. Combining local activation and generalised inhibition represented by Amari's neural field equations and extended by the Fitzhugh-Nagumo and Wilson-Cowan activator-inhibitor systems, results in the type of neural attractor dynamics that may lead to spontaneous oscillatory pattern formation. Preliminary simulation data suggest that this approach has utility in enabling a team of autonomous vehicles to navigate in a crowded pedestrian crossing
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Copyright © 2008 Inderscience Enterprises Limited. All rights reserved.