Tapered whisker reservoir computing for real-time terrain identification-based navigation.
Tapered whisker reservoir computing for real-time terrain identification-based navigation.
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DOI：
10.1038/s41598-023-31994-x
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发表时间：
2023-03-30
影响因子：
4.6
通讯作者：
Nanayakkara, Thrishantha
中科院分区：
文献类型：
--
作者：
Yu, Zhenhua;Sadati, S. M. Hadi;Perera, Shehara;Hauser, Helmut;Childs, Peter R. N.;Nanayakkara, Thrishantha
提出了一种基于地形识别的移动的机器人实时导航方法。在非结构化环境中执行任务的移动的机器人需要实时调整其轨迹，以实现在复杂地形中安全有效的导航。然而，目前的方法在很大程度上依赖于视觉和IMU（惯性测量单元），需要高计算资源的实时应用。在本文中，实时地形识别为基础的导航方法，提出了一种基于锥形晶须的水库计算系统的车载。在各种分析和有限元分析框架中研究了锥形晶须的非线性动态响应，以证明其水库计算能力。数值模拟和实验相互验证，晶须传感器可以分离不同频率的信号直接在时域和显示所提出的系统的计算优势，不同的晶须轴的位置和运动速度提供可变的动态响应信息。地形表面跟踪实验表明，我们的系统可以实时准确地识别地形的变化，并调整其轨迹停留在特定的地形。
This paper proposes a new method for real-time terrain recognition-based navigation for mobile robots. Mobile robots performing tasks in unstructured environments need to adapt their trajectories in real-time to achieve safe and efficient navigation in complex terrains. However, current methods largely depend on visual and IMU (inertial measurement units) that demand high computational resources for real-time applications. In this paper, a real-time terrain identification-based navigation method is proposed using an on-board tapered whisker-based reservoir computing system. The nonlinear dynamic response of the tapered whisker was investigated in various analytical and Finite Element Analysis frameworks to demonstrate its reservoir computing capabilities. Numerical simulations and experiments were cross-checked with each other to verify that whisker sensors can separate different frequency signals directly in the time domain and demonstrate the computational superiority of the proposed system, and that different whisker axis locations and motion velocities provide variable dynamical response information. Terrain surface-following experiments demonstrated that our system could accurately identify changes in the terrain in real-time and adjust its trajectory to stay on specific terrain.
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影响因子：
5.2
作者：
Chen, Yu;Rastogi, Chirag;Norris, William R.
通讯作者：
Norris, William R.
影响因子：
2.7
作者：
Reina, Giulio;Milella, Annalisa;Worst, Rainer
通讯作者：
Worst, Rainer
DOI：
10.1109/70.681246
发表时间：
1998-04-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
Kaneko, M;Kanayama, N;Tsuji, T
通讯作者：
Tsuji, T
影响因子：
1.9
作者：
Hauser, Helmut;Ijspeert, Auke J.;Maass, Wolfgang
通讯作者：
Maass, Wolfgang
影响因子：
5.2
作者：
Nava, Mirko;Guzzi, Jerome;Giusti, Alessandro
通讯作者：
Giusti, Alessandro