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A behavior controller based on spiking neural networks for mobile robots
Wang, Xiuqing1,2; Hou, Zeng-Guang1; Zou, Anmin1; Tan, Min1; Cheng, Long1
2008
发表期刊NEUROCOMPUTING
卷号71期号:4-6页码:655-666
文章类型Article
摘要Spiking neural networks (SNNs), as the third generation of artificial neural networks, have unique advantages and are good candidates for robot controllers. A behavior controller based on a spiking neural network is designed for mobile robots to avoid obstacles using ultrasonic sensory signals. Detailed structure and implementation of the controller are discussed. In the controller the integrated-and-firing model is used and the SNN is trained by the Hebbian learning algorithm. Under the framework of SNNs, fewer neurons are employed in the controller than those of the classical neural networks (NNs). Experimental results show that the proposed controller is effective and is easy to implement. (c) 2007 Elsevier B.V. All rights reserved.
关键词Spiking Neural Networks Mobile Robot Obstacle Avoidance Hebbian Learning Ultrasonic Data
WOS标题词Science & Technology ; Technology
关键词[WOS]FUZZY CONTROLLER ; NEURONS ; CIRCUITS ; RULES
收录类别ISTP ; SCI
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence
WOS记录号WOS:000253663800025
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9601
专题09年以前成果
作者单位1.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
2.Hebei Normal Univ, Vocat & Tech Inst, Shijiazhuang 050031, Peoples R China
推荐引用方式
GB/T 7714
Wang, Xiuqing,Hou, Zeng-Guang,Zou, Anmin,et al. A behavior controller based on spiking neural networks for mobile robots[J]. NEUROCOMPUTING,2008,71(4-6):655-666.
APA Wang, Xiuqing,Hou, Zeng-Guang,Zou, Anmin,Tan, Min,&Cheng, Long.(2008).A behavior controller based on spiking neural networks for mobile robots.NEUROCOMPUTING,71(4-6),655-666.
MLA Wang, Xiuqing,et al."A behavior controller based on spiking neural networks for mobile robots".NEUROCOMPUTING 71.4-6(2008):655-666.
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