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Conference Towards Autonomous Robotic Systems

TAROS 2012: Advances in Autonomous Robotics pp 84–95Cite as

Bio-inspired Autonomous Navigation and Escape from Pursuers with Potential Functions

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

Abstract

This paper addresses autonomous navigation and escape from pursuers by using a bio-inspired path planning approach that combines the notions of refuge and proteanism with popular potential functions in a grid based setting. The whole proposed design is divided into: a bio-inspired analysis of the environment that computes local goals (possible bio-inspired refuges or remote locations), potential functions over a grid, and bio-inspired proteanism through subgoals; and path planning with updates of the environment. Experiments show the differences of paths created by classic steepest descent search towards a local goal, or by using different subgoals along the way, and the improvement of the avoidance of capture from the latter.

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Author information

Authors and Affiliations

  1. Automatic Control and Systems Engineering, University of Sheffield, Mappin Street, Sheffield, S1 3JD, UK

    Dejanira Araiza-Illan & Tony J. Dodd

Authors
  1. Dejanira Araiza-Illan
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  2. Tony J. Dodd
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Araiza-Illan, D., Dodd, T.J. (2012). Bio-inspired Autonomous Navigation and Escape from Pursuers with Potential Functions. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_8

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_8

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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