A coupled reaction-diffusion field model for perception-action cycle with applications to robot navigation. (12th December 2008)

• Record Type: Journal Article
• Authors: Aidman, Eugene; Ivancevic, Vladimir; Jennings, Andrew
• Is Part Of: International journal of intelligent defence support systems. Volume 1:Number 2(2008)
• Page Start: 93
• Page End: 115
• Publication Date: 2008-12-12
• Subjects: reaction-diffusion systems -- coupled activator-inhibitor fields -- dynamical grid -- robot navigation -- crowded environments -- local activation -- generalised inhibition -- neural field equations -- neural attractor dynamics -- autonomous vehicles -- pedestrian crossing -- mobile robots -- neural networks; Artificial intelligence -- Military applications -- Periodicals; Cybernetics -- Periodicals; Experimental design -- Periodicals; 623.028563
• Languages: English
• ISSNs: 1755-1587

Abstract

A generalised reaction-diffusion field model for robot navigation is proposed. It utilises two mutually antagonistic neural fields counteracting in patterns similar to that of flexor/extensor muscles controlling the movements in major joints in the human body. Combining local activation and generalised inhibition represented by Amari's neural field equations and extended by the Fitzhugh-Nagumo and Wilson-Cowan activator-inhibitor systems, results in the type of neural attractor dynamics that may lead to spontaneous oscillatory pattern formation. Preliminary simulation data suggest that this approach has utility in enabling a team of autonomous vehicles to navigate in a crowded pedestrian crossing.