Avoidance behavior controlled by a model of vertebrate midbrain mechanisms

Abstract

A mobile animat is simulated with a steering controller modeled on vertebrate midbrain mechanisms. As in the brain, the model optic tectum receives direct input from the eyes and is reciprocally connected to the two nucleus isthmi (NI) which respond selectively to looming objects. NI activity feeds back to tectum which controls turning movements. The animat is tested in a 3-D field of obstacles. It discriminates objects at different distances and it avoids "predatorsØ and collision with stationary obstacles. © Springer-Verlag Berlin Heidelberg 2005.