A SENSOR-BASED ROBOT CONTROLLER FOR AUTONOMOUS EXPLORATION OF UNKNOWN ENVIRONMENTS

摘要

This paper describes an oscillator-based controller that was implemented on a two- wheeled, differential drive robot. The controller is loosely based on central pattern generator circuits seen in many animals, and was developed to operate in unknown or changing environments. A unique feature is that the controller adjusts its oscillator parameters based on the pattern of sensory feedback. The controller's performance is evaluated in three different test arenas, each with three variable lighting patterns. The goal of the robot was to seek out areas of bright light and "collect" as much light as possible during a trial. The results indicate that the performance of the self-adjusting oscillator-based controller exceeds that of a fixed-oscillator controller, with the performance difference increasing as the complexity of the environment increases.