A self-adjusting oscillator controller for robots exploring dynamic or unknown environments

This paper describes an oscillator-based controller that was implemented on a two-wheeled, differential drive robot. The controller is loosely based on the central pattern generator circuits seen in many animals, and was developed to operate in unknown or changing environments. A unique feature is that the controller adjusts its oscillator parameters based on the pattern of sensory feedback. The controller's performance in a test arena with random obstacles and changing light patterns is evaluated. The Goal of the robot was to seek out areas of bright light and "collect" as much light as possible during a trial. The results of the indicate that the performance of the self-adjusting oscillator-based controller is better than that of a fixed-oscillator controller.