An adaptive switching behavior between levy and brownian random search in a mobile robot based on biological fluctuation

Surya G. Nurzaman, Yoshio Matsumoto, Yutaka Nakamura, Kazumichi Shirai, Satoshi Koizumi, Hiroshi Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

17 Citations (Scopus)

Abstract

Biological creatures, some of them are very simple, seem to perform efficient search strategy. Recent researches show that noise in their internal mechanism may have an important role to manage this behavior. This paper focuses on realizing a simple, noise utilizing, mathematical framework that enables a mobile robot to perform random search adaptively and efficiently under changing target density. Our approach is to model and implement bacterial movement based on a recent perspective of noise utilizing mechanism in living beings: biological fluctuation. As a result, the robot will adaptively switch its random search pattern between Levy walk and Brownian walk to increase the search efficiency in a patchy environment where the target density naturally alternates.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages1927-1934
Number of pages8
DOIs
Publication statusPublished - 2010
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2010 - Taipei, Taiwan
Duration: 18 Oct 201022 Oct 2010
https://ieeexplore.ieee.org/xpl/conhome/5639431/proceeding (Proceedings)

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2010
Abbreviated titleIROS 2010
Country/TerritoryTaiwan
CityTaipei
Period18/10/1022/10/10
Internet address

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