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Spiking neural network-based target tracking control for autonomous mobile robots
Cao, Zhiqiang1; Cheng, Long1; Zhou, Chao1; Gu, Nong2; Wang, Xu1; Tan, Min1
Source PublicationNEURAL COMPUTING & APPLICATIONS
2015-11-01
Volume26Issue:8Pages:1839-1847
SubtypeArticle
AbstractIn 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.
KeywordSpiking Neural Network Autonomous Mobile Robot Spike Trains Target Tracking Hebbian Learning
WOS HeadingsScience & Technology ; Technology
DOI10.1007/s00521-015-1848-5
WOS KeywordDYNAMIC-SYSTEM ; NEURONS ; BEHAVIOR ; MODELS
Indexed BySCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence
WOS IDWOS:000361397500005
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9011
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
Recommended Citation
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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