A reflexive vehicle control architecture based on a neural model of the cockroach escape response

Ravi Vaidyanathan; Chun Ta Chen; Chan Doo Jeong; Charles Williams; Yochiro Endo; Roy E. Ritzmann; Roger D. Quinn

doi:10.1177/0959651811428035

A reflexive vehicle control architecture based on a neural model of the cockroach escape response

Ravi Vaidyanathan^*, Chun Ta Chen, Chan Doo Jeong, Charles Williams, Yochiro Endo, Roy E. Ritzmann, Roger D. Quinn

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

This paper presents a biologically inspired architecture for rapid real-time control of autonomous or semi-autonomous vehicles based on a neural model of the escape response of the American cockroach, Periplaneta americana. The architecture fuses exteroceptive and proprioceptive inputs in a manner similar to the insect to produce commands for collision avoidance and, in some cases, orientation for target strike. It functions as a reflexive subsystem that integrates smoothly with higher-level planning and behavioral control systems. The performance of the reflex is demonstrated in simulation and in hardware experiments on both air and ground vehicles, even in the presence of noisy, false or disruptive sensor data.

Original language	English
Pages (from-to)	699-718
Number of pages	20
Journal	Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Volume	226
Issue number	5
DOIs	https://doi.org/10.1177/0959651811428035
Publication status	Published - 2012 May
Externally published	Yes

Keywords

Autonomous control
artificial reflexes
autorouting
biologically inspired control
collision avoidance
path planning/tracking
time-critical control

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering

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10.1177/0959651811428035

Cite this

Vaidyanathan, R., Chen, C. T., Jeong, C. D., Williams, C., Endo, Y., Ritzmann, R. E., & Quinn, R. D. (2012). A reflexive vehicle control architecture based on a neural model of the cockroach escape response. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 226(5), 699-718. https://doi.org/10.1177/0959651811428035

A reflexive vehicle control architecture based on a neural model of the cockroach escape response. / Vaidyanathan, Ravi; Chen, Chun Ta; Jeong, Chan Doo et al.
In: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, Vol. 226, No. 5, 05.2012, p. 699-718.

Research output: Contribution to journal › Article › peer-review

Vaidyanathan, R, Chen, CT, Jeong, CD, Williams, C, Endo, Y, Ritzmann, RE & Quinn, RD 2012, 'A reflexive vehicle control architecture based on a neural model of the cockroach escape response', Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, vol. 226, no. 5, pp. 699-718. https://doi.org/10.1177/0959651811428035

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A reflexive vehicle control architecture based on a neural model of the cockroach escape response

Abstract

Keywords

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