Reactive Neural Control For Phototaxis And Obstacle Avoidance Behavior Of Walking Machines

Poramate Manoonpong, Frank Pasemann, Florentin Wörgötter
2007 Zenodo  
This paper describes reactive neural control used to generate phototaxis and obstacle avoidance behavior of walking machines. It utilizes discrete-time neurodynamics and consists of two main neural modules: neural preprocessing and modular neural control. The neural preprocessing network acts as a sensory fusion unit. It filters sensory noise and shapes sensory data to drive the corresponding reactive behavior. On the other hand, modular neural control based on a central pattern generator is
more » ... ern generator is applied for locomotion of walking machines. It coordinates leg movements and can generate omnidirectional walking. As a result, through a sensorimotor loop this reactive neural controller enables the machines to explore a dynamic environment by avoiding obstacles, turn toward a light source, and then stop near to it.
doi:10.5281/zenodo.1076921 fatcat:qsgz6dk33jg35b5ov3hrjhn6dy