Enhancing Neural Based Obstacle Avoidance with CPG Controlled Hexapod Walking Robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00315461" target="_blank" >RIV/68407700:21230/17:00315461 - isvavai.cz</a>
Result on the web
<a href="http://ceur-ws.org/Vol-1885/65.pdf" target="_blank" >http://ceur-ws.org/Vol-1885/65.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Enhancing Neural Based Obstacle Avoidance with CPG Controlled Hexapod Walking Robot
Original language description
Avoiding collisions with obstacles and intercepting objects based on the visual perception is a vital survival ability of any animal. In this work, we propose an extension of the biologically based collision avoidance approach to the detection of intercepting objects using the Lobula Giant Movement Detector (LGMD) connected directly to the locomotion control unit based on the Central Pattern Generator (CPG) of a hexapod walking robot. The proposed extension uses Recurrent Neural Network (RNN) to map the output of the LGMD on the input of the CPG to enhance collision avoiding behavior of the robot in cluttered environments. The presented results of the experimental verification of the proposed system with a real mobile hexapod crawling robot support the feasibility of the presented approach in collision avoidance scenarios.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 17th Conference on Information Technologies - Applications and Theory (ITAT 2017)
ISBN
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ISSN
1613-0073
e-ISSN
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Number of pages
6
Pages from-to
65-70
Publisher name
CEUR Workshop Proceedings
Place of publication
Aachen
Event location
Martinské hole, Malá Fatra
Event date
Sep 22, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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