Learning from animals: How to Navigate Complex Terrains

Henghui Zhu, Hao Liu, Armin Ataei, Yonatan Munk, Thomas Daniel and Ioannis Ch Paschalidis

PLOS Computational Biology, 2020, vol. 16, issue 1, 1-17

Abstract: We develop a method to learn a bio-inspired motion control policy using data collected from hawkmoths navigating in a virtual forest. A Markov Decision Process (MDP) framework is introduced to model the dynamics of moths and sparse logistic regression is used to learn control policy parameters from the data. The results show that moths do not favor detailed obstacle location information in navigation, but rely heavily on optical flow. Using the policy learned from the moth data as a starting point, we propose an actor-critic learning algorithm to refine policy parameters and obtain a policy that can be used by an autonomous aerial vehicle operating in a cluttered environment. Compared with the moths’ policy, the policy we obtain integrates both obstacle location and optical flow. We compare the performance of these two policies in terms of their ability to navigate in artificial forest areas. While the optimized policy can adjust its parameters to outperform the moth’s policy in each different terrain, the moth’s policy exhibits a high level of robustness across terrains.Author summary: Many animals exhibit a remarkable ability to navigate in complex forest terrains. Can we learn their navigation strategy from observed flying trajectories? Further, can we refine these strategies to design UAV/drone navigation policies in dense cluttered terrains? To that end, we propose a method to analyze data from hawkmoth flight trajectories in a closed-loop virtual forest and extract the navigation control policy. We find that moths rely heavily on optical flow rather than detailed information on the location of obstacles around them. We also develop a method to refine the hawkmoth control policy to be used by autonomous aerial vehicles in a cluttered environment. We find that integrating both obstacle location information and optical flow improves navigation performance.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:plo:pcbi00:1007452

DOI: 10.1371/journal.pcbi.1007452

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