lobot::LGMDExtricateEMD Class Reference

A behaviour for moving the robot away from obstacles by running the raw LGMD inputs via an EMD array. More...

#include <Robots/LoBot/control/LoLGMDExtricateEMD.H>

Inheritance diagram for lobot::LGMDExtricateEMD:

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Collaboration diagram for lobot::LGMDExtricateEMD:

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List of all members.

Classes
struct	Command
Friends
class	subfactory< LGMDExtricateEMD, base >

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Detailed Description

A behaviour for moving the robot away from obstacles by running the raw LGMD inputs via an EMD array.

This class implements a behaviour designed to move lobot away from obstacles obstructing its path. It does this by using an array of Reichardt Elementary Motion Detectors that are wired into the locusts being used to "guide" lobot. The idea is to emulate an insect's compound eyes.

As an obstacle approaches the robot, we expect to see an LGMD "wave" travel through the locusts depending on the obstacle's trajectory. For example, when an obstacle approaches from the left, we will see the LGMD's of the leftmost locusts fire first and then those of the locusts towards the right. The EMD will track this LGMD wave and point in the direction of maximal spiking activity, which will allow the behaviour to steer the robot away.

Definition at line 91 of file LoLGMDExtricateEMD.H.

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The documentation for this class was generated from the following files:

• src/Robots/LoBot/control/LoLGMDExtricateEMD.H
• src/Robots/LoBot/control/LoLGMDExtricateEMD.C