Institutional Repository
| 基于多超声传感器信息和NeuCube的移动机器人走廊场景识别 | |
| Alternative Title | Corridor scene recognition for mobile robots based on multi-sonar-sensor information and NeuCube |
| 王秀青; 侯增广; 潘世英; 谭民; 王永吉; 曾慧 | |
| 2015 | |
| Source | 计算机应用
 |
| ISSN | 1001-9081 |
| Volume | 35Issue:10Pages:2833-2837 |
| English Abstract | 为提高室内移动机器人的环境感知能力,针对其常处的结构化走廊场景的分类、Spiking神经网络(SNN)和基于SNN的新型计算模型NeuCube进 行研究。SNN利用尖脉冲传递时、空信息,比传统的神经网络更适于动态、时序信息的分析,以及各种模式信息的识别和分类。此外,SNN更易于用硬件实现。 在对NeuCube的基本原理、学习方法和计算步骤进行讨论的基础上,利用多超声传感信息和NeuCube对室内移动机器人常处的7种走廊场景进行识别。 实验结果表明基于多超声传感信息和NeuCube的移动机器人走廊场景分类方法可以对7种走廊场景进行有效识别,该方法有助于增强移动机器人的自主性和提 高其智能水平。 |
| Indexed Type | CSCD |
| Abstract | To improve the perception ability of indoor mobile robots, the classification method for the commonly structured corridor-scenes, Spiking Neural Network (SNN) and NeuCube, which is a novel computing model based on SNN, were studied. SNN can convey spatio-temporal information by spikes. Besides, SNN is more suitable for analyzing dynamic and time-series data, and for recognizing data of various patterns than traditional Neural Network (NN). It is easy to be implemented by hardware. The principle, learning methods and calculation steps of NeuCube were discussed. Then seven common corridor scenes were recognized by the classification method based on multi-sonar-sensor information and NeuCube. The experimental results show that the proposed method is effective. Additionally, it is helpful for improving autonomy and intelligence of mobile robots. |
| Keyword | 移动机器人 多超声传感信息 Spiking神经网络 环境感知 分类 |
| Department | 王秀青, 河北师范大学应用信息技术系, 石家庄, 河北 050024, 中国;潘世英, 河北师范大学应用信息技术系, 石家庄, 河北 050024, 中国;侯增广, 中国科学院自动化研究所, 复杂系统管理与控制国家重点实验室, 北京 100190, 中国;谭民, 中国科学院自动化研究所, 复杂系统管理与控制国家重点实验室, 北京 100190, 中国;王永吉, 中国科学院软件研究所, 基础软件国家工程研究中心;;计算机科学国家重点实验室, 北京 100190, 中国;曾慧, 北京科技大学信息学院, 北京 100083, 中国; |
| Language | 中文 |
| CSCD ID | CSCD:5537763 |
| Content Type | 期刊论文 |
| URI | http://ir.iscas.ac.cn/handle/311060/17404 |
| Collection | 中国科学院软件研究所 |
| Recommended Citation GB/T 7714 | 王秀青,侯增广,潘世英,等. 基于多超声传感器信息和NeuCube的移动机器人走廊场景识别[J]. 计算机应用,2015,35(10):2833-2837. |
| APA | 王秀青,侯增广,潘世英,谭民,王永吉,&曾慧.(2015).基于多超声传感器信息和NeuCube的移动机器人走廊场景识别.计算机应用,35(10),2833-2837. |
| MLA | 王秀青,et al."基于多超声传感器信息和NeuCube的移动机器人走廊场景识别".计算机应用 35.10(2015):2833-2837. |
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| File Name/Size | DocType | Version | Access | License | ||
| 基于多超声传感器信息和NeuCube的移（1304KB） | 开放获取 | License | Application Full Text | |||
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