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

研究成果: 雜誌貢獻文章

5 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
頁(從 - 到)699-718
頁數20
期刊Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
226
發行號5
DOIs
出版狀態已發佈 - 2012 五月 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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