Attention-based navigation in mobile robots using a reconfigurable sensor

被引：1
作者：
Maris, M [1 ]
机构：
[1] Univ Zurich, Artificial Intelligence Lab, CH-8057 Zurich, Switzerland
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2001年 / 34卷 / 01期
关键词：
robot control; attention; neuromorphic engineering; analog VLSI; biorobotics;
D O I：
10.1016/S0921-8890(00)00099-3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a method for visual attentional selection in mobile robots is proposed, based on amplification of the selected stimulus. Attention processing is performed on the vision sensor, which is integrated on a silicon chip and consists of a contrast sensitive retina with the ability to change the local inhibitory strength between adjacent pixel elements. As a result, the sensitivity to visual contrast at a particular region of the retina can be adjusted. As the local inhibitory strength can be regulated from outside of the chip. a reconfigurable sensor is realized. This "attention-retina" was tested on an autonomous robot (MorphoII) which was given the task of selecting a line to follow while there were two alternatives. The robot develops directional preference by associating its visual stimulus with an electrical energy providing stimulus, in this case a solar cell. (C) 2001 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：53 / 63
页数：11
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