Title :
Implementation of Turing patterns for bio-inspired motion control
Author :
Arena, Paolo ; Basile, Agata ; Fortuna, Luigi ; Frasca, Mattia ; Patané, Luca
Author_Institution :
Dipt. di Ingegneria Elettrica Elettronica e dei Sistemi, Catania Univ., Italy
Abstract :
In this paper a CNN controlling the reactive behavior of a roving robot by means of Turing patterns is introduced. The Turing pattern represents the fixed-action pattern of the robot, while the initial conditions of the CNN are given by the sensor status. The approach is still valid when the number of sensors is high, being able to perform data fusion in real-time through analog parallel processing. An experiment using a small roving robot is presented to validate the approach.
Keywords :
cellular neural nets; mobile robots; motion control; parallel processing; robot dynamics; sensor fusion; CNN; CNN initial conditions; Turing patterns; analog parallel processing; bio-inspired motion control; reactive behavior; real-time data fusion; robot fixed-action pattern; roving robot; sensor number; sensor status; Animals; Biosensors; Cellular neural networks; Motion control; Nervous system; Neurons; Parallel processing; Robot control; Robot sensing systems; Sensor fusion;
Conference_Titel :
Circuits and Systems, 2003. ISCAS '03. Proceedings of the 2003 International Symposium on
Print_ISBN :
0-7803-7761-3
DOI :
10.1109/ISCAS.2003.1205151
