论文标题
基于高速差异的MAV登陆的演变的神经形态控制
Evolved Neuromorphic Control for High Speed Divergence-based Landings of MAVs
论文作者
论文摘要
飞行的昆虫能够在混乱的环境中基于视觉的导航,可靠地避免通过快速而敏捷的操纵障碍,同时在处理视觉刺激方面非常有效。同时,自动驾驶微型空气车仍然远远落后于其生物学,表现出较低的能源消耗。鉴于此,我们希望根据其加工能力模仿飞行昆虫,因此显示了这种方法在现实世界中的效率。这封信是通过不断发展的尖峰神经网络来控制微型空气车登陆的尖峰神经网络的方法。我们证明,由此产生的神经形态控制器从高度抽象的仿真到现实世界,进行快速安全的着陆,同时保持网络尖峰速率最小。此外,我们可以洞悉成功解决基于差异的登陆问题所需的资源,这表明只能通过一个单个尖峰神经元学习高分辨率控制。据我们所知,这项工作是第一个将尖峰神经网络集成到现实世界中飞行机器人的控制循环中的作品。可以在https://bit.ly/neuro-controller上找到实验的视频。
Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air vehicles still lag far behind their biological counterparts, displaying inferior performance at a much higher energy consumption. In light of this, we want to mimic flying insects in terms of their processing capabilities, and consequently show the efficiency of this approach in the real world. This letter does so through evolving spiking neural networks for controlling landings of micro air vehicles using optical flow divergence from a downward-looking camera. We demonstrate that the resulting neuromorphic controllers transfer robustly from a highly abstracted simulation to the real world, performing fast and safe landings while keeping network spike rate minimal. Furthermore, we provide insight into the resources required for successfully solving the problem of divergence-based landing, showing that high-resolution control can be learned with only a single spiking neuron. To the best of our knowledge, this work is the first to integrate spiking neural networks in the control loop of a real-world flying robot. Videos of the experiments can be found at https://bit.ly/neuro-controller .