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https://hdl.handle.net/2440/53634
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Type: | Journal article |
Title: | A coupled reaction-diffusion field model for perception-action cycle with applications to robot navigation |
Author: | Aidman, E. Ivancevic, V. Jennings, A. |
Citation: | International Journal of Intelligent Defence Support Systems, 2008; 1(2):93-115 |
Publisher: | Inderscience Publishers |
Issue Date: | 2008 |
ISSN: | 1755-1587 1755-1595 |
Statement of Responsibility: | Eugene Aidman, Vladimir Ivancevic and Andrew Jennings |
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 |
Keywords: | 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 |
Description: | Copyright © 2008 Inderscience Enterprises Limited. All rights reserved. |
DOI: | 10.1504/IJIDSS.2008.021969 |
Published version: | http://dx.doi.org/10.1504/ijidss.2008.021969 |
Appears in Collections: | Aurora harvest 5 Psychology publications |
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