This paper describes the simulated environment that was prepared for validation of Cognitive Function Synthesis, or CFS, Autonomy. The environment was developed with the V-REP simulator and assembled around the ‘Eric Rohmer’ Pioneer robot. The simulated robot was configured to act as a Behaviour-Based Robot that is constrained to move about the test area, as defined by a state diagram, and based on pre-configured reflexes, provided by the Braitenberg algorithm. Vision sensors, i.e. simulated cameras, were found to be better suited to configure these behaviours than light sensor cues. Initial results suggest that the simulated environment may be used for CFS autonomy validation. This research marks the first simulated environment produced for investigating CFS Autonomy and consequently needs to be further validated.
This paper analyses results from experiments performed using a previously-described, simulated environment that was developed for validation of Cognitive Function Synthesis, or CFS, Autonomy. Navigation performance of the Pioneer robot platform used the following metrics: Average Cycle Time per simulation run; Average Wall Contact per cycle; and Average Shock Treatment Activation per simulation run. Two ultrasound, or US, configurations were used while the robot navigated in either the ‘preconfigured-reflexes only’ mode or the ‘Braitenberg Obstacle Avoidance’ mode. Results from the “16 sensor” US configuration was generally found to be significantly different from that of the “8 sensor” configuration, independently of obstacle avoidance considerations. Robot performance, when subject to the Braitenberg Obstacle Avoidance algorithm, was also found to be significantly different from ‘preconfigured-reflexes only’ performance, regardless of US configuration. The difference in Shock Treatment and the Average Wall Contact, observed between the “16 sensor” US setting and the “8 sensor” configuration for the ‘Braitenberg Obstacle Avoidance’, are likely to be due to the coefficient values adopted for the rear US sensors together with robot position at experiment start. The use of this environment to enable statistical analysis of results, to determine significant difference in obstacle avoidance performance, validates its usefulness as a tool for CFS Autonomy validation.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
customersupport@researchsolutions.com
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.