Neural Network Perception for Mobile Robot Guidance
Neural Network Perception for Mobile Robot Guidance
Pulsed Neural Networks
Evolution of Spiking Neural Controllers for Autonomous Vision-Based Robots
ER '01 Proceedings of the International Symposium on Evolutionary Robotics From Intelligent Robotics to Artificial Life
From Wheels to Wings with Evolutionary Spiking Circuits
Artificial Life
A generalized real-time obstacle avoidance method without the Cspace calculation
Journal of Computer Science and Technology
Corridor-Scene Classification for Mobile Robot Using Spiking Neurons
ICNC '08 Proceedings of the 2008 Fourth International Conference on Natural Computation - Volume 04
Natural Computing: an international journal
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Learning anticipation via spiking networks: application to navigation control
IEEE Transactions on Neural Networks
The Wall-Following Controller for the Mobile Robot Using Spiking Neurons
AICI '09 Proceedings of the 2009 International Conference on Artificial Intelligence and Computational Intelligence - Volume 01
Integrating behavioral, perceptual, and world knowledge in reactive navigation
Robotics and Autonomous Systems
Neural-network-based adaptive leader-following control for multiagent systems with uncertainties
IEEE Transactions on Neural Networks
Multicriteria optimization for coordination of redundant robots using a dual neural network
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
A reinforcement learning based radial-bassis function network control system
ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part I
Unsupervised clustering with spiking neurons by sparse temporal coding and multilayer RBF networks
IEEE Transactions on Neural Networks
Cerebellar Input Configuration Toward Object Model Abstraction in Manipulation Tasks
IEEE Transactions on Neural Networks
Cerebellarlike Corrective Model Inference Engine for Manipulation Tasks
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
WCCI'12 Proceedings of the 2012 World Congress conference on Advances in Computational Intelligence
NeuCube evospike architecture for spatio-temporal modelling and pattern recognition of brain signals
ANNPR'12 Proceedings of the 5th INNS IAPR TC 3 GIRPR conference on Artificial Neural Networks in Pattern Recognition
A target-reaching controller for mobile robots using spiking neural networks
ICONIP'12 Proceedings of the 19th international conference on Neural Information Processing - Volume Part IV
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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.