A New Rat Navigation Method Based On CC2431
In order to make bio-robots navigation operation guided by remote control much easier, taking SD rats as an example, we develop a new locomotion control scheme to guide a rat to finish a task that the rat is placed by experimenters at one point and it tries to arrive at a goal point by itself in a room. Both points are given arbitrarily. At first the article analyses the problems we meet when it moves toward the goal without obstacles. Then we propose a feasible solution to solve these problems. Finally we present a complete control plan for rats in usual environments with obstacles. In our experiments the electrical microstimulation system using chips CC2430 and CC2431 provides a small, light, efficient and reliable multi-channel telemetry microstimulation platform, with maximum flexibility for experimental configurations. The position of the operant rat can be determined by CC2431 module which has the capacity of location by forming a star wireless sensor network. According to the discrimination function f (θ), the controller mounted on the back of the rat generates biphasic pulses to steer the rat to run ahead, to right or to left so that it can move towards the goal.
Bio-robot Navigation CC2431 A * algorithm
Mingxia Wan Xuan Huang Huasheng Ni Bin Kong
Center for Biomimetic Sensing and Control Research,Institute of Intelligent Machines,Chinese Academy of Sciences, Hefei, Anhui, China
国际会议
上海
英文
262-265
2011-03-11（万方平台首次上网日期，不代表论文的发表时间）