Institut für Neuroinformatik, Ruhr-Universität-Bocum, Bochum, Germany.
Bioinspir Biomim. 2012 Sep;7(3):036015. doi: 10.1088/1748-3182/7/3/036015. Epub 2012 May 15.
Braitenberg vehicles have been used experimentally for decades in robotics with limited empirical understanding. This paper presents the first mathematical model of the vehicle 2b, displaying so-called aggression behaviour, and analyses the possible trajectories for point-like smooth stimulus sources. This sensory-motor steering control mechanism is used to implement biologically grounded target approach, target-seeking or obstacle-avoidance behaviour. However, the analysis of the resulting model reveals that complex and unexpected trajectories can result even for point-like stimuli. We also prove how the implementation of the controller and the vehicle morphology interact to affect the behaviour of the vehicle. This work provides a better understanding of Braitenberg vehicle 2b, explains experimental results and paves the way for a formally grounded application on robotics as well as for a new way of understanding target seeking in biology.
几十年来，Braitenberg 车辆在机器人学中得到了有限的经验性应用，但对其了解有限。本文提出了车辆 2b 的第一个数学模型，展示了所谓的攻击行为，并分析了点状光滑刺激源的可能轨迹。这种感觉-运动转向控制机制用于实现基于生物学的目标接近、目标追踪或避障行为。然而，对所得到模型的分析表明，即使对于点状刺激，也可能产生复杂和意外的轨迹。我们还证明了控制器的实现和车辆形态如何相互作用，从而影响车辆的行为。这项工作提供了对 Braitenberg 车辆 2b 的更好理解，解释了实验结果，并为机器人学的正式应用以及生物学中目标追踪的新理解铺平了道路。
