Using an evolutionary algorithm to determine the parameters of a biologically inspired model of head direction cells |
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Authors: | Theocharis Kyriacou |
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Institution: | (1) Research Institute for the Environment, Physical Sciences and Applied Mathematics (EPSAM), Keele University, Staffordshire, UK |
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Abstract: | A biologically inspired model of head direction cells is presented and tested on a small mobile robot. Head direction cells
(discovered in the brain of rats in 1984) encode the head orientation of their host irrespective of the host’s location in
the environment. The head direction system thus acts as a biological compass (though not a magnetic one) for its host. Head
direction cells are influenced in different ways by idiothetic (host-centred) and allothetic (not host-centred) cues. The
model presented here uses the visual, vestibular and kinesthetic inputs that are simulated by robot sensors. Real robot-sensor
data has been used in order to train the model’s artificial neural network connections. The main contribution of this paper
lies in the use of an evolutionary algorithm in order to determine the values of parameters that determine the behaviour of
the model. More importantly, the objective function of the evolutionary strategy used takes into consideration quantitative
biological observations reported in the literature. |
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Keywords: | |
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