Salomon R
Department of Computer Science, University of Zurich, Switzerland.
Biosystems. 1998 Aug;47(3):193-206. doi: 10.1016/s0303-2647(98)00026-4.
This paper proposes a new self-organizing, biologically-inspired control architecture for mobile robots consisting of a controller and a value system. The controller uses activity patterns of visual sensors to determine the motor commands, whereas the value system receives stimuli from proprioceptive sensors. This design decision is justified by the following arguments: (1) the feedback of proprioceptive sensory patterns is omnipresent in biological systems and has been widely neglected in control systems, (2) both components are significantly decoupled by using different sensory modalities, and (3) proprioceptive sensors operate more reliably and can be used more efficiently than visual sensors, such as pixels in a CCD camera. Practical experiments with the Khepera robot show that by using proprioceptive sensor values, the control architecture can adapt to different environments and yield very robust behavior with respect to, for example, sensor failures. Furthermore, the new control architecture can be easily enhanced by further components.
本文提出了一种用于移动机器人的新型自组织、受生物启发的控制架构，该架构由一个控制器和一个价值系统组成。控制器利用视觉传感器的活动模式来确定电机指令，而价值系统则接收来自本体感觉传感器的刺激。这一设计决策基于以下理由：(1) 本体感觉模式的反馈在生物系统中无处不在，但在控制系统中却被广泛忽视；(2) 通过使用不同的传感模态，这两个组件显著解耦；(3) 本体感觉传感器比视觉传感器（如CCD相机中的像素）运行更可靠，且能更高效地使用。使用Khepera机器人进行的实际实验表明，通过使用本体感觉传感器值，该控制架构能够适应不同环境，并在例如传感器故障方面产生非常稳健的行为。此外，新的控制架构可以很容易地通过添加其他组件来增强。
