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

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