计算机技术与发展2023，Vol.33Issue(12)：32-40,9.DOI:10.3969/j.issn.1673-629X.2023.12.005
基于FPGA的移动机器人SNNs走廊场景分类器
Mobile Robots'SNNs Corridor-scene-classifier Based on FPGA
摘要
Abstract
The neuromorphic-chip is one of the important research aspects of brain-inspired computing,and the hardware implementation of neural networks(NNs)is the basis of neuromorphic-chip.Spiking neural networks(SNNs)with biological plausibility,which convey temporal and spatial information by spikes,are suitable to be implemented with hardware,and are also one of the main tools for brain-inspired computing.A novel SNNs based mobile robots'corridor-scene-classifier implemented by FPGA is proposed.The ultrasonic sensor information of the mobile robot is encoded and input into the SNNs corridor scene classifier,and the corridor scene of the robot is judged by the pulse output mode of the FPGA classifier,so as to improve the environment perception ability and autonomy of the robot.The principle of the Approximation-Spiking IAF neuron model and the implementation of the SNNs corridor-scene-classifier based on Approximation-Spiking IAF by FPGA are discussed in detail.The simulation and experimental results validate the effectiveness of the proposed mobile robots'corridor-scene-classifier based on FPGA and SNNs.Besides the fast processing speed,the classification results of the proposed method are accurate and not influenced by lighting conditions,the needed amount of sensor data is small,the FPGA resource-conquer-rate is low(the utilization rate of LE is only 10%),which is suitable for practical application.Moreover,the proposed corridor classifier can also improve mobile robots'ability of environmental perception and autonomy,and provides a valuable input for SNNs implemented by hardware.关键词
脉冲神经网络/积分点火神经元模型/脉冲编码/现场可编程门阵列/移动机器人/超声传感器Key words
Spiking neural networks/integrated-and-fired neuron model/Spiking encoding/field programmable gate array/mobile robot/sonar sensor分类
信息技术与安全科学引用本文复制引用
王睿轶,王秀青,刘万明,王永吉,叶晓雅..基于FPGA的移动机器人SNNs走廊场景分类器[J].计算机技术与发展,2023,33(12):32-40,9.基金项目
国家自然科学基金面上项目(61673160,61175059) （61673160,61175059）
河北省自然科学基金资助项目(F2018205102) （F2018205102）
河北省高等学校科学技术研究重点项目(ZD2021063) （ZD2021063）
河北师范大学重点基金(L2019Z11) （L2019Z11）
河北师范大学在读研究生创新能力培养资助项目(CXZZSS2022073) （CXZZSS2022073）
河北师范大学2021年大学生课外学术科技创新项目(CG2021412204634) （CG2021412204634）
