Biomimetic control based on a model of chemotaxis in

の化学走性モデルに基づくバイオミメティック制御

辻 敏夫*; 鈴木 芳代; 滝口 昇*; 大竹 久夫*

Tsuji, Toshio*; Suzuki, Michiyo; Takiguchi, Noboru*; Otake, Hisao*

In this paper, we selected the bacterium as a target organism because it has a relatively simple molecular and organizational structure, which can be characterized using biochemical and genetic analyses. We particularly focused on a motility response known as chemotaxis and developed a computer model that includes not only intracellular information processing but also motor control. After confirming the effectiveness and validity of the proposed model by a series of computer simulations, we applied it to a mobile robot control problem. This is probably the first study showing that a bacterial model can be used as an autonomous control algorithm.