A Multi-sensory Stimuli Computation Method for Complex Robot Behavior Generation

Younes Raoui, El Houssine Bouyakhf

2015

Abstract

In this paper we present a method for obstacle avoidance which uses the neural field technique to learn the different actions of the robot. The perception is used based on monocular camera which allows us to have a 2D representation of a scene. Besides, we describe this scene using visual global descriptor called GIST. In order to enhance the quality of the perception, we use laser range data through laser range finder sensor. Having these two observations, GIST and range data, we fuse them using an addition. We show that the fusion data gives better quality when comparing the estimated position of the robot and the ground truth. Since we are using the paradigm learning-test, when the robot acquires data, it uses it as stimuli for the neural field in order to deduce the best action among the four basic ones (right, left, frontward, backward). The navigation is metric so we use Extended Kalman Filter in order to update the robot position using again the combination of GIST and range data.

Paper Citation

in Harvard Style

Raoui Y. and Bouyakhf E. (2015). A Multi-sensory Stimuli Computation Method for Complex Robot Behavior Generation . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 139-145. DOI: 10.5220/0005528301390145

in Bibtex Style

@conference{icinco15,
author={Younes Raoui and El Houssine Bouyakhf},
title={A Multi-sensory Stimuli Computation Method for Complex Robot Behavior Generation},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={139-145},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005528301390145},
isbn={978-989-758-122-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Multi-sensory Stimuli Computation Method for Complex Robot Behavior Generation
SN - 978-989-758-122-9
AU - Raoui Y.
AU - Bouyakhf E.
PY - 2015
SP - 139
EP - 145
DO - 10.5220/0005528301390145