Navigation in a challenging Martian environment using multi-sensory fusion in KIV model

摘要

The aim of This work is to demonstrate that the dynamic KIV architecture can be used to integrate various sensory signals to achieve an efficient goal oriented navigation, when the robot has no a priori information about the simulated Martian environment. Navigation through space commonly involves goal-seeking and obstacle-avoidance. We show how a robot equipped with landmark detectors and eight infrared sensors can accomplish this task using a biologically inspired artificial brain. KIV demonstrates robust multisensory fusion with fast learning of goal-oriented behavior.