Mobile robots' modular navigation controller using spiking neural networks

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Mobile robots' modular navigation controller using spiking neural networks
	Wang, Xiuqing 1; Hou, Zeng-Guang2 ; Lv, Feng 1; Tan, Min2 ; Wang, Yongji 3
刊名	NEUROCOMPUTING
	2014-06-25
卷号	134 页码:230-238
关键词	Mobile robot Spiking neural networks Modular navigation controller Target-approaching Obstacle-avoidance Wall-following
英文摘要	Autonomous navigation plays an important role in mobile robots. Artificial neural networks (ANNs) have been successfully used in nonlinear systems whose models are difficult to build. However, the third generation neural networks - Spiking neural networks (SNNs) - contain features that are more attractive than those of traditional neural networks (NNs). Because SNNs convey both temporal and spatial information, they are more suitable for mobile robots' controller design. In this paper, a modular navigation controller based on promising spiking neural networks for mobile robots is presented. The proposed behavior-based target-approaching navigation controller, in which the reactive architecture is used, is composed of three sub-controllers: the obstacle-avoidance SNN controller, the wall-following SNN controller and the goal-approaching controller. The proposed modular navigation controller does not require accurate mathematical models of the environment, and is suitable to unknown and unstructured environments. Simulation results show that the proposed transition conditions for sub-controllers are feasible. The navigation controller can control the mobile robot to reach a target successfully while avoiding obstacles and following the wall to get rid of the deadlock caused by local minimum. (C) 2014 Elsevier B.V. All rights reserved.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Artificial Intelligence
研究领域[WOS]	Computer Science
关键词[WOS]	TRACKING CONTROL ; NEURONS ; CLASSIFICATION ; ENVIRONMENT ; SYSTEMS ; MODEL
收录类别	SCI
语种	英语
WOS记录号	WOS:000335486000030
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3511]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.Hebei Normal Univ, Shijiazhuang 050031, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Inst Software, Lab Internet Technol, State Key Lab Comp Sci, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Wang, Xiuqing,Hou, Zeng-Guang,Lv, Feng,et al. Mobile robots' modular navigation controller using spiking neural networks[J]. NEUROCOMPUTING,2014,134:230-238.
APA	Wang, Xiuqing,Hou, Zeng-Guang,Lv, Feng,Tan, Min,&Wang, Yongji.(2014).Mobile robots' modular navigation controller using spiking neural networks.NEUROCOMPUTING,134,230-238.
MLA	Wang, Xiuqing,et al."Mobile robots' modular navigation controller using spiking neural networks".NEUROCOMPUTING 134(2014):230-238.