THE IMPACT OF CYBERNETICS ON THE DESIGN OF A MOBILE ROBOT SYSTEM - A CASE-STUDY

被引：16
|
作者：
ARKIN, RC
机构：
[1] School of Information and Computer Science, Georgia Institute of Technology, Atlanta
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1990年 / 20卷 / 06期
关键词：
D O I：
10.1109/21.61198
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
The design of the autonomous robot architecture is analyzed in light of the cognitive psychological, neuroscientific, and etiological studies that influenced its development. Motor schema-based navigation and its relationship to models of detour behavior in amphibians is described. Application of the action-perception cycle in the context of action-oriented perception is also presented with particular emphasis on the role of expectations as focus-of-attention mechanisms. An overview of the process of homeostatic control as a means of dynamically modifying motor behavior based on internal sensing is also described. These approaches are substantiated throughout with simulation studies and actual mobile robot experiments. © 1990 IEEE
引用
收藏
页码：1245 / 1257
页数：13
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