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A Neural Circuit for Acoustic Navigation Combining Heterosynaptic and Non-synaptic Plasticity That Learns Stable Trajectories

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Book cover Engineering Applications of Neural Networks (EANN 2017)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 744))

Abstract

Reactive spatial robot navigation in goal-directed tasks such as phonotaxis requires generating consistent and stable trajectories towards an acoustic target while avoiding obstacles. High-level goal-directed steering behaviour can steer a robot towards the target by mapping sound direction information to appropriate wheel velocities. However, low-level obstacle avoidance behaviour based on distance sensors may significantly alter wheel velocities and temporarily direct the robot away from the sound source, creating conflict between the two behaviours. How can such a conflict in reactive controllers be resolved in a manner that generates consistent and stable robot trajectories? We propose a neural circuit that minimises this conflict by learning sensorimotor mappings as neuronal transfer functions between the perceived sound direction and wheel velocities of a simulated non-holonomic mobile robot. These mappings constitute the high-level goal-directed steering behaviour. Sound direction information is obtained from a model of the lizard peripheral auditory system. The parameters of the transfer functions are learned via an online unsupervised correlation learning algorithm through interaction with obstacles in the form of low-level obstacle avoidance behaviour in the environment. The simulated robot is able to navigate towards a virtual sound source placed 3 m away that continuously emits a tone of frequency 2.2 kHz, while avoiding randomly placed obstacles in the environment. We demonstrate through two independent trials in simulation that in both cases the neural circuit learns consistent and stable trajectories as compared to navigation without learning.

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Notes

  1. 1.

    modified from https://en.wikipedia.org/wiki/Nonsynaptic_plasticity#/media/File:Neurons_big1.jpg.

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Acknowledgements

This research was supported with a grant for the SMOOTH project (project number 6158-00009B) by Innovation Fund Denmark.

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Authors and Affiliations

  1. Embodied AI and Neurorobotics Laboratory, Centre for BioRobotics, Maersk Mc-Kinney Moeller Institute, University of Southern Denmark, 5230, Odense M, Denmark

    Danish Shaikh & Poramate Manoonpong

Authors
  1. Danish Shaikh
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  2. Poramate Manoonpong
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Correspondence to Danish Shaikh .

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Editors and Affiliations

  1. Politecnico di Milano, Milan, Italy

    Giacomo Boracchi

  2. Democritus University of Thrace, University Campus, Xanthi, Greece

    Lazaros Iliadis

  3. School of Computing Science and Digital Media, Robert Gordon University, Aberdeen, United Kingdom

    Chrisina Jayne

  4. Univesity of Ioannina, Ioannina, Greece

    Aristidis Likas

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Shaikh, D., Manoonpong, P. (2017). A Neural Circuit for Acoustic Navigation Combining Heterosynaptic and Non-synaptic Plasticity That Learns Stable Trajectories. In: Boracchi, G., Iliadis, L., Jayne, C., Likas, A. (eds) Engineering Applications of Neural Networks. EANN 2017. Communications in Computer and Information Science, vol 744. Springer, Cham. https://doi.org/10.1007/978-3-319-65172-9_46

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  • DOI: https://doi.org/10.1007/978-3-319-65172-9_46

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65171-2

  • Online ISBN: 978-3-319-65172-9

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