Instruction Manual

Biological
Inspiration
Sensor Integration:
Alt hough
“Biologically
Inspired”
approaches are
becoming
increasingly popular
in engin eering, few
research groups
have succeeded in
tightly integrating
biological principles into controller design. Tight integration of
biological principles requires an approach in vol ving close
feedback between research in biology and engineering. Key
steps for making this tightly integrated a pproach are:
Identification of behavioral capabilities of biological organi sms
directly relevant to the task of interest
Identification of biological species that are suited for studying
these capab iliti es
Drawing upon biological studies and experimental evidence to
understand how natural systems accomplish desired tasks
Abstract and implement those capabilities that are needed for
a particular engineering task.
By working closely with biologists under this paradigm, ORI has
developed several reflex control algorithms that incorporate
many of the advantages seen in biological organisms, including:
In na ture, ani mals are c apa ble of in tegrating
large amounts of sensory information from multiple sensors and
sensor types so action decisions may be made rapidly.
Aut onomous vehicles with this capability react to current flight
conditions and mission scenarios in real-time.
Animal's reactions are
continuously updated based upon physiological state and
environment. Enabling this ability in autonomous vehicles
increases their efficiency and adaptability.
Many autorouters only address
higher-level path planning behavior where the vehicular dynamics
and constraints (such as varying flight envelopes) are not
considered. Autonomous vehicles with this biological solution are
capable of mission optimization within a host of varying
conditions.
Few
control methodologies are capable of extremely rapid reactions.
Nature has addressed thi s need through the d evelopment of
locally controlled reflexes as in the American Cockroach whose
neural organization is mimicked for autonomous vehicle control.
Thus, autonomous vehicles with this biologically inspired
algorithm are capable of processing, planning around, and
reacting to changes or threats in real-time
.
The resp onse of bi ological organisms
is the result of the incorporation of millions of generations of
natural selection. This permits robust instantaneous reactions to
every situation by combining and tuning pre-developed reflexes.
Thus, autonomous vehicles can rapidly reconfigure operational
scenarios to accomplish the overall mission goal.
Context Dependent Behavior:
Multi Constraint Incorporation:
Instantaneous Path Generation and Tracking Reactions:
Evo lved Pattern R espon se :
A
nimals must integrate large amounts of sensor information to orient movement
towards goals and away from threats, often in milliseconds, to survive. Nature,
through evolution and natural selection, has optimized this behavior. In particular,
insects initiate actions reflexively in situations where no time for detailed information
processing or planned decision making is possible. Orbital Research, Inc. has
developed a neural circuit based upon over twenty years of research by biologists
on the escape response of the American cockroach that provides a key tool for
achieving this capability.
Biologically inspired neural circuits for
autonomy and sensor fusion
Orbital Research, Inc.
4415 Euclid Ave., Suite 500
leveland, OH 44103-3733C
Contac t: Frederick J. Lisy, Ph.D.
Telephone [phone]
E-mail lisy@orbitalrese arch.com
www.orbita lresearch.com
Copyright 2003
Rev: RMK 2-2-2004
The neural circuit is based upon the work of
biologists studying the American Cockroach.
Implementation of cockroach escape reflex4es as an obstacle
avoidance system for autonomous vehicles, the cockroach’s neural
architecture is labeled with italics and the obstacle avoidance system’s
analogs are shown in the blocks