Reconfigurable hardware evolution platform for a spiking neural network robotics controller

Authors:
Patrick Rocke;Brian McGinley;Fearghal Morgan;John Maher
Affiliations:
Bio-Insvpired and Reconfigurable Computing Research Group, Dept. Electronic Engineering, NUI Galway, Ireland;Bio-Insvpired and Reconfigurable Computing Research Group, Dept. Electronic Engineering, NUI Galway, Ireland;Bio-Insvpired and Reconfigurable Computing Research Group, Dept. Electronic Engineering, NUI Galway, Ireland;Bio-Insvpired and Reconfigurable Computing Research Group, Dept. Electronic Engineering, NUI Galway, Ireland
Venue:
ARC'07 Proceedings of the 3rd international conference on Reconfigurable computing: architectures, tools and applications
Year:
2007

Citing 8
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Abstract

This paper describes a platform for the hardware evolution of Spiking Neural Network (SNN) based robotics controllers on multiple Field Programmable Analogue Arrays (FPAAs). The SNN robotics controller, evolved using a GA, performs obstacle avoidance and navigation. A robotics simulator is used to evaluate the performance of the evolved hardware SNN. Simulated sonar data is input to FPAA neurons and the SNN returns motor control data to the simulator. Initial results indicate the emergence of effective navigation behavior.