Integrated Psikharpax Simulation: Navigation & Action Selection

In this 3D simulation, a Pekee robot has to survive by alternatively reloading at the black and the white reloading stations. It builds an internal map of the environment using the model proposed in (Filliat, 2001, PhD thesis), represented by the linked nodes on the upper left (the red dot is the estimation of the current position). It uses the basal ganglia model proposed in (Girard et al., 2005, Adaptive Behavior) to select between reloading actions, requiring a stop, and moving actions (neural activity represented by the bar graphs on the upper & lower left). The robot uses here an omnidirectional vision (Lachèze et al., 2008, SAB), shown at the bottom right. This integrative work, performed by Loïc Lachèze is a contribution to the Psikharpax project (see Meyer et al., 2005, Robotics & Autonomous Systems).

Category:

Science & Technology

Tags:

• simulation
• autonomous robot
• cognitive map
• path planning
• SLAM
• basal ganglia
• action selection
• omnidirectional vision