A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs

被引：61

作者：

Jimenez-Fernandez, Angel ^{[1
]}

Jimenez-Moreno, Gabriel ^{[1
]}

Linares-Barranco, Alejandro ^{[1
]}

Dominguez-Morales, Manuel J. ^{[1
]}

Paz-Vicente, Rafael ^{[1
]}

Civit-Balcells, Anton ^{[1
]}

机构：

[1] Univ Seville, ETSI Informatca, Deparment Comp Architecture & Technol, E-41012 Seville, Spain

来源：

SENSORS | 2012年 / 12卷 / 04期

关键词：

neuro-controllers; neuromorphic engineering; bio-inspired systems and control; control system analysis; programmable logic devices; pulse frequency modulation; sensor-motor integration; SILICON COCHLEA; AER; RETINA;

D O I：

10.3390/s120403831

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control.

引用

页码：3831 / 3856

页数：26

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