Spiking neural network-based target tracking control for autonomous mobile robots
Cao, Zhiqiang1; Cheng, Long1; Zhou, Chao1; Gu, Nong2; Wang, Xu1; Tan, Min1
2015-11-01
发表期刊NEURAL COMPUTING & APPLICATIONS
卷号26期号:8页码:1839-1847
文章类型Article
摘要In this paper, a target tracking controller based on spiking neural network is proposed for autonomous robots. This controller encodes the preprocessed environmental and target information provided by CCD cameras, encoders and ultrasonic sensors into spike trains, which are integrated by a three-layer spiking neural network (SNN). The outputs of SNN are generated based on the competition between the forward/backward neuron pair corresponding to each motor, with the weights evolved by the Hebbian learning. The application to target tracking of a mobile robot in unknown environment verifies the validity of the proposed controller.
关键词Spiking Neural Network Autonomous Mobile Robot Spike Trains Target Tracking Hebbian Learning
WOS标题词Science & Technology ; Technology
DOI10.1007/s00521-015-1848-5
关键词[WOS]DYNAMIC-SYSTEM ; NEURONS ; BEHAVIOR ; MODELS
收录类别SCI
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence
WOS记录号WOS:000361397500005
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9011
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Deakin Univ, Ctr Intelligent Syst Res, Waurn Ponds, Vic, Australia
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GB/T 7714
Cao, Zhiqiang,Cheng, Long,Zhou, Chao,et al. Spiking neural network-based target tracking control for autonomous mobile robots[J]. NEURAL COMPUTING & APPLICATIONS,2015,26(8):1839-1847.
APA Cao, Zhiqiang,Cheng, Long,Zhou, Chao,Gu, Nong,Wang, Xu,&Tan, Min.(2015).Spiking neural network-based target tracking control for autonomous mobile robots.NEURAL COMPUTING & APPLICATIONS,26(8),1839-1847.
MLA Cao, Zhiqiang,et al."Spiking neural network-based target tracking control for autonomous mobile robots".NEURAL COMPUTING & APPLICATIONS 26.8(2015):1839-1847.
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