Abstract
Based on the utilitarian navigation concept, the paper introduces a recurrent neural network for the search of sensory sources by a mobile robot. First, a utility function for sensory-based search is defined and a dynamic optimization process is obtained. Next, a bio-inspired neural model of sensory-motor coordination is proposed. The paper analyzes the proposed motor neural circuit in more detail, using a dynamic model of the respective motor neurons. Experimental results confirm the viability of the recurrent neural model for implementing sensory-based search by a mobile robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Maravall, D., de Lope, J., Serradilla, F. (2000) Combination of model-based and reactive methods in autonomous navigation. Proc. of the IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, 2328–2333
Mira, J., Delgado, A.E. (2003) Where is knowledge in robotics? Some methodological issues on symbolic and connectionist perspectives of AI. In C. Zhou, D. Maravall, D. Ruan (eds). Autonomous Robotic Systems: Soft Computing and Hard Computing Methodologies and Applications. Physica-Verlag, Springer, Heidelberg, 3–34
Clancey, W.J. (1997) Situated Cognition: On Human Knowledge and Computer Representations. Oxford University Press, New York
Beer, R.D. (1997) The dynamics of adaptive behavior: A research program. Robotics and Autonomous Systems 20(2–4), 257–289
Sharkey, N.E., Ziemke, T. (2000) A consideration of the biological and psychological foundations of autonomous robotics. Connection Science 10(3–4), 361–391
Moreno-Diaz, R., Mira, J. (1995) Logic and Neural Networks: Variations on Themes by W. S. McCulloch. In R. Moreno-Diaz, J. Mira-Mira (eds). Brain Processes, Theories and Models. The MIT Press, Cambridge, MA, 24–36
De Lope, J., Maravall, D. (2003) Integration of reactive utilitarian navigation and topological modeling. In C. Zhou, D. Maravall, D. Ruan (eds). Autonomous Robotic Systems: Soft Computing and Hard Computing Methodologies and Applications. Physica-Verlag, Springer, Heidelberg, 103–139
Maravall, D., de Lope, J. (2003) Integration of artificial potential field theory and sensory-based search in autonomous navigation. Proc. of the IFAC 2002 World Congress, Elsevier (to appear)
Dayan, P., Abbot, L.F. (2001) Theoretical Neuroscience: Computational and Mathematical Modeling of Neural Systems. The MIT Press, Cambridge, MA
Arbib, M. (2003) Introducing the neuron. In M.A. Arbib (ed). The Handbook of Brain Theory and Neural Networks, second edition. The MIT Press, Cambridge, MA, 3–9
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Maravall, D., de Lope, J., Patricio, M.Á. (2003). A Recurrent Neural Network for Robotic Sensory-based Search. In: Mira, J., Álvarez, J.R. (eds) Artificial Neural Nets Problem Solving Methods. IWANN 2003. Lecture Notes in Computer Science, vol 2687. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44869-1_20
Download citation
DOI: https://doi.org/10.1007/3-540-44869-1_20
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-40211-4
Online ISBN: 978-3-540-44869-3
eBook Packages: Springer Book Archive