Implementing reinforcement learning in the chaotic KIV model using mobile robot AIBO

We use the biologically inspired dynamic neural network architecture KIV to achieve robust goal-oriented navigation in a physical environment with obstacles. KIV operates on the principle of chaotic neurodynamics, in the style of brains. It performs the task of multi-sensory fusion, recognition, and decision-making in real time. We use the Sony AIBO robot to demonstrate the operation of our algorithm. AIBO´s video camera and infra sensors have been complemented with an external camera for monitoring of the robot´s position. The performance of the autonomous system is evaluated using goal-oriented navigation.