Factors that influence the direction and timing of changes in travel path during a multiple obstacle avoidance task.

在多重避障任务中影响行进路径变化的方向和时间的因素。

• 批准号: RGPIN-2014-05288
• 负责人: Cinelli, Michael
• 金额: $ 1.89万
• 依托单位: Wilfrid Laurier University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=630754
• 关键词: Factors; influence; direction; timing; changes

Successful navigation requires both human and animals to maneouver through environments that are cluttered with objects that must be avoided. The behavioural variables used to control actions and safely navigate towards a goal are unknown. One challenge of developing a general theory of locomotion in cluttered environments is to determine how individuals coordinate and organize their actions. A starting step is to understand that the environment and the individual are in constant interaction and guided by episodic information. To demonstrate this, the Steering Dynamics Model was developed to show that locomotor paths emerge from simple navigation laws. The model assumed that goal-directed behaviours could be described by a few behavioural variables such that environmental goals served as attractors in which trajectories converged and obstacles served as repellors from which trajectories diverged. Over the past 10 years this model has been widely used to account for navigation in both humans and non-humans. Although this model offers a simple and elegant account of certain aspects of navigation, it has several significant limitations that are evident when one considers navigating in real-world situations. The model does not take into account individual’s physical size and size of the obstacles, action capabilities, or the manner in which locomotor speed and direction are coordinated. In order to address these limitations, a fundamentally different model, the Affordance-based Model, has recently been proposed. This new approach suggests that the individual takes into account his or her body dimensions and locomotor capabilities when choosing actions and guiding locomotion. The major limitation of this model is that it requires that an individual has learnt and has knowledge of his or her body dimensions and locomotor capabilities. These two models represent different theoretical ideas to explain the behavioural variables used to guide locomotion. Understanding the effects of intrinsic properties of an individual or environmental layout on path selection has long gone unanswered and this proposal will shed light on all of the previous research in the field. The long-term goal of my basic research program is to determine which of the two models best explains the behavioural variables used to safely guide locomotion in real-world situations. In order to meet this objective, a series of studies that manipulate either properties of the individual or those of the environment will be conducted over the next five years. These studies will involve real-world settings in which participants will walk along a path toward a goal and avoiding colliding with physical obstacles. The obstacles will create a gap between 35 and 80cm wide on any given trial as well as create two other possible pathways between each obstacle and the wall on either side of the gap. Data collected will include: 1) perceptual judgments about path selection; 2) gaze behaviours to reflect where perceptual information is being gather; and 3) kinematics to reflect path selections. This work will determine which of the two models best explains the behavioural variables used to safely guide locomotion in real-world situations. The motivation behind this proposal is to extend such models to real world situations where perception and action must coordinate with the environment. This will ultimately lead to understanding the behavioural variables that control locomotion in cluttered environments, which can be used to develop robots to safely navigate unfamiliar environments or properly plan exit routes in buildings.

成功的导航需要人类和动物都能在充满必须避开的物体的环境中移动。用于控制行动和安全地朝着目标导航的行为变量是未知的。在杂乱的环境中发展运动的一般理论的一个挑战是确定个体如何协调和组织他们的行动。第一步是理解环境和个人是不断相互作用的，并受到情节信息的指导。为了证明这一点，转向动力学模型的发展表明，运动路径出现从简单的导航法律。该模型假设，目标导向的行为可以用几个行为变量来描述，例如，环境目标作为吸引器，轨迹收敛，障碍物作为排斥器，轨迹发散。在过去的10年里，该模型已被广泛用于解释人类和非人类的导航。虽然这个模型提供了一个简单而优雅的导航的某些方面的帐户，它有几个明显的局限性，当考虑在现实世界中的情况下导航。该模型没有考虑到个人的物理尺寸和障碍物的大小，行动能力，或运动速度和方向的协调方式。为了解决这些局限性，最近提出了一种根本不同的模式，即基于负担能力的模式。这种新方法表明，个体在选择动作和引导运动时会考虑他或她的身体尺寸和运动能力。该模型的主要局限性在于，它要求个体已经学习并了解他或她的身体尺寸和运动能力。这两个模型代表了不同的理论思想来解释用于指导运动的行为变量。了解个人或环境布局的内在属性对路径选择的影响长期以来一直没有得到解答，这一建议将揭示该领域以前的所有研究。我的基础研究计划的长期目标是确定这两个模型中哪一个最好地解释了用于在现实世界中安全引导运动的行为变量。为了实现这一目标，将在未来五年内进行一系列操纵个人或环境属性的研究。这些研究将涉及真实世界的设置，参与者将沿着沿着一条通往目标的道路行走，避免与物理障碍物相撞。在任何给定的试验中，障碍物将产生35至80 cm宽的间隙，并在每个障碍物和差距两侧的墙壁之间产生另外两条可能的路径。收集的数据将包括：1）关于路径选择的感知判断; 2）反映感知信息在哪里被收集的注视行为;以及3）反映路径选择的运动学。这项工作将确定这两个模型中哪一个最好地解释了用于在现实世界中安全引导运动的行为变量。这一提议背后的动机是将这种模型扩展到真实的世界情况，在这种情况下，感知和行动必须与环境协调。这将最终导致理解在混乱环境中控制运动的行为变量，这些变量可用于开发机器人，以安全地在不熟悉的环境中导航或正确地规划建筑物中的出口路线。