A systematic analysis of the Braitenberg vehicle 2b for point-like stimulus sources

Bioinspiration & Biomimetics
Iñaki Rañó

Abstract

Braitenberg vehicles have been used experimentally for decades in robotics with limited empirical understanding. This paper presents the first mathematical model of the vehicle 2b, displaying so-called aggression behaviour, and analyses the possible trajectories for point-like smooth stimulus sources. This sensory-motor steering control mechanism is used to implement biologically grounded target approach, target-seeking or obstacle-avoidance behaviour. However, the analysis of the resulting model reveals that complex and unexpected trajectories can result even for point-like stimuli. We also prove how the implementation of the controller and the vehicle morphology interact to affect the behaviour of the vehicle. This work provides a better understanding of Braitenberg vehicle 2b, explains experimental results and paves the way for a formally grounded application on robotics as well as for a new way of understanding target seeking in biology.

References

Oct 17, 2003·Proceedings. Biological Sciences·Norbert Boeddeker, Martin Egelhaaf
Mar 30, 2005·Neural Networks : the Official Journal of the International Neural Network Society·Md Monirul Islam, K Murase
May 7, 2010·Journal of Veterinary Pharmacology and Therapeutics·V B SchmidJ N King

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Citations

May 6, 2017·Bioinspiration & Biomimetics·Iñaki Rañó, José A Santos

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