Training a network of electronic neurons for control of a mobile robot

T. G M Vromen, E. Steur, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

5 Citations (Scopus)
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Abstract

An adaptive training procedure is developed for a network of electronic neurons, which controls a mobile robot driving around in an unknown environment while avoiding obstacles. The neuronal network controls the angular velocity of the wheels of the robot based on the sensor readings. The nodes in the neuronal network controller are clusters of neurons rather than single neurons. The adaptive training procedure ensures that the input-output behavior of the clusters is identical, even though the constituting neurons are nonidentical and have, in isolation, nonidentical responses to the same input. In particular, we let the neurons interact via a diffusive coupling, and the proposed training procedure modifies the diffusion interaction weights such that the neurons behave synchronously with a predefined response. The working principle of the training procedure is experimentally validated and results of an experiment with a mobile robot that is completely autonomously driving in an unknown environment with obstacles are presented.

Original languageEnglish
Article number1650196
Number of pages16
JournalInternational Journal of Bifurcation and Chaos in Applied Sciences and Engineering
Volume26
Issue number12
DOIs
Publication statusPublished - 1 Nov 2016

Keywords

  • adaptive training procedure
  • autonomous mobile robot control
  • Diffusive neuronal cell network
  • practical synchronization

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