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A Drift Diffusion Model of Biological Source Seeking for Mobile Robots

Rano, Ignacio, Khamassi, Mehdi and Wong-Lin, KongFatt (2017) A Drift Diffusion Model of Biological Source Seeking for Mobile Robots. In: IEEE International Conference on Robotics and Automation, Singapore. IEEE. 7 pp. [Conference contribution]

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Braitenberg vehicles have been used in multiple real world robotic implementations of bio-inspired local navigation. While sensor based control strategies – including existing models of Braitenberg vehicles – typically neglect sensor noise, real robot implementations suffer from different levels of noise, especially in the case of low cost robots and highly stochastic environments. This paper presents a novel drift-diffusion model of Braitenberg vehicle 3a – a bio-inspired source seeking controller for non-holonomic robots – accounting for the sensor noise. The stochastic differential equations obtained provide means to accurately simulate the behaviour of this bio-inspired control mechanism. Although these equations do not have analytic solutions in general, under some simplifying assumptions, we obtain the deterministic equations for the average and dispersion of the vehicles while performing source seeking. Moreover, we found an analytic bound for the distribution of the heading direction of the robots. Simulations illustrate and confirm the theoretical results presented.

Item Type:Conference contribution (Paper)
Keywords:Bio-inspired robotics, Drift-Diffusion Model.
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute > Intelligent Systems Research Centre
Computer Science Research Institute
ID Code:36846
Deposited By: Dr Ignacio Rano
Deposited On:23 Feb 2017 14:45
Last Modified:17 Oct 2017 16:27

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