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Spiking neural network-based target tracking control for autonomous mobile robots

文献类型：期刊论文

作者Cao, Zhiqiang1; Cheng, Long1; Zhou, Chao1; Gu, Nong2; Wang, Xu1; Tan, Min1
刊名NEURAL COMPUTING & APPLICATIONS
出版日期2015-11-01
卷号26期号:8页码:1839-1847
关键词Spiking neural network Autonomous mobile robot Spike trains Target tracking Hebbian learning
英文摘要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.
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]DYNAMIC-SYSTEM ; NEURONS ; BEHAVIOR ; MODELS
收录类别SCI
语种英语
WOS记录号WOS:000361397500005
源URL[http://ir.ia.ac.cn/handle/173211/9011]  
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.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
推荐引用方式
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.

入库方式： OAI收割

来源：自动化研究所

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