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An architecture for a VLSI sensory–motor system for obstacle avoidance


An architecture for a VLSI sensory–motor system for obstacle avoidance

Claveau, David and Wang, Chunyan (2003) An architecture for a VLSI sensory–motor system for obstacle avoidance. Robotics and Autonomous Systems, 50 (1). pp. 1-11. ISSN 09218890

Text (application/pdf)
obstacle_avd.pdf - Accepted Version

Official URL: http://dx.doi.org/10.1016/j.robot.2004.06.005


This paper presents a signal processing architecture for a sensory-motor system based on the smart sensor paradigm. The architecture is designed for an obstacle avoidance task by a mobile robot in an unstructured environment. Drawing inspiration from the field of behavior-based robotics, the development of the architecture is guided by an emphasis on the requirements of an obstacle avoidance behavior for a mobile robot. The architecture is simple enough for a smart sensor, but incorporates features which enable it to deal with realistic, unstructured environments. It differs from existing systems by using a special foveation scheme to facilitate the detection of real world objects. From this, a motor control signal is produced by using a biologically inspired technique of aligning sensory and motor maps. The effectiveness of the architecture is explored through computer simulation, including an obstacle avoidance simulation in a 3D virtual environment.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Electrical and Computer Engineering
Item Type:Article
Authors:Claveau, David and Wang, Chunyan
Journal or Publication:Robotics and Autonomous Systems
Date:4 July 2003
Digital Object Identifier (DOI):10.1016/j.robot.2004.06.005
Keywords:Obstacle avoidance; Autonomous robots; Smart sensors
ID Code:36144
Deposited By: CHUNYAN WANG
Deposited On:07 Dec 2011 21:56
Last Modified:18 Jan 2018 17:36
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