Reactive direction control for a mobile robot: a locust-like control of escape direction emerges when a bilateral pair of model

Locusts possess a bilateral pair of uniquely identifiable visual neurons that respond vigorously to the image of an approaching object. These neurons are called the lobula giant movement detectors (LGMDs). The locust LGMDs have been extensively studied and this has lead to the development of an LGMD model for use as an artificial collision detector in robotic applications. To date, robots have been equipped with only a single, central artificial LGMD sensor, and this triggers a non-directional stop or rotation when a potentially colliding object is detected. Clearly, for a robot to behave autonomously, it must react differently to stimuli approaching from different directions. In this study, we implement a bilateral pair of LGMD models in Khepera robots equipped with normal and panoramic cameras. We integrate the responses of these LGMD models using methodologies inspired by research on escape direction control in cockroaches. Using `randomised winner-take-all' or `steering wheel...

• Type: Journal
• Year: 2010
• Where: AROBOTS
• Authors: Shigang Yue, Roger D. Santer, Yoshifumi Yamawaki, F. Claire Rind
• Keywords: AROBOTS 2010, Escape Directions, Lgmd Model, Locusts