Collision avoidance using an egocentric memory of proximity

  • R. Zapata
  • P. Lépinay
  • P. Déplanques
5. Robotics and Emulation of Animal Behavior
Part of the Lecture Notes in Computer Science book series (LNCS, volume 929)


This paper describes a formal model of a dynamic and egocentric memory used for predicting the evolution of a local function of proximity. This model is represented by a polar function able to trig the reactive behaviors (reflex actions for collision avoidance) of a planar mobile robot. It also addresses the implementation of this model with an artificial neural network first on a simulator that has been developed in order to test this model and also on a real holonomic autonomous robot.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • R. Zapata
    • 1
  • P. Lépinay
    • 1
  • P. Déplanques
    • 1
  1. 1.Laboratoire d'Informatique, de Robotique et de MicroélectroniqueLIRMM - UM CNRS C9928 - Université de Montpellier IIMontpellier cedex 5France

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