[1]王义萍,陈庆伟,胡维礼,等.基底神经节的尖峰神经元网络模型及其在机器人中的应用[J].南京理工大学学报(自然科学版),2010,(06):717-722.
 WANG Yi-ping,CHEN Qing-wei,HU Wei-li.Spiking Neuron Network Model of Basal Ganglia and Its Application in Robot[J].Journal of Nanjing University of Science and Technology,2010,(06):717-722.
点击复制

基底神经节的尖峰神经元网络模型及其在机器人中的应用
分享到:

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2010年06期
页码:
717-722
栏目:
出版日期:
2010-12-31

文章信息/Info

Title:
Spiking Neuron Network Model of Basal Ganglia and Its Application in Robot
作者:
王义萍;陈庆伟;胡维礼;
南京理工大学自动化学院
Author(s):
WANG Yi-pingCHEN Qing-weiHU Wei-li
School of Automation,NUST,Nanjing 210094,China
关键词:
机器人 基底神经节 尖峰神经元网络 行为选择
Keywords:
robots basal ganglia spiking neuron networks behavior selection
分类号:
TP242
摘要:
为提高机器人智能,建立了基底神经节行为选择的尖峰神经元网络模型,并通过仿真实验验证了其选择性能。将该行为选择模型嵌入基于行为的机器人控制体系结构中,并用来控制实际机器人。实验结果证实了在基底神经节行为选择模块的作用下,机器人能够选择执行正确的行为。
Abstract:
To improve the robot intelligence,the spiking neuron network model of basal ganglia’s behavior selection is constructed,and its selection ability is demonstrated through simulation experiments.This behavior selection module is embedded in the behavior-based robot control architecture and applied to robot control.The experimental results demonstrate that the robot governed by the basal ganglia behavior selection module can select proper behaviors to run.

参考文献/References:

[ 1] Brooks R. A robust layered contro l sy stem for a mob ilerobot[ J]. IEEE Journa l o f Robotics and Autom ation,1986, 2( 1): 14- 23.

[ 2 ] Brooks R A. Inte lligence w ithout reason [ A ] . Proceedingso f the Tw e lfth Interna tiona l Jo int Con ferenceon A rtific ia l Intelligence [ C ] . M en lo Park, Ca lifo rnia, USA: Interna tiona l Jo int Con ferences on A rtific ia lInte lligence, 1991: 569- 595.
[ 3] Brooks R A. Inte lligence w ithout representation [ J].A rtific ial Intelligence, 1991, 47( 1 /3): 139- 159.
[ 4] G irard B, Taba reau N, Pham Q C, et a .l Where neuroscience and dynam ic system theorym eet autonomous robotics:A contracting basa l g ang lia mode l for action selection[J]. N eura lNetw orks, 2008, 21( 4): 628- 41.
[ 5] H um phriesM D, Prescott T J. The ventra l basa l ganglia, a se lec tionm echan ism at the crossroads o f space,strategy, and rew ard[ J]. Progress in Neurobio logy,2010, 90( 4): 385- 417.
[ 6] H um phr iesM D. The basa l gang lia and action se lection:A com putationa l study at m ultip le levels o f description[D]. She ffie ld, UK: Departm ent of Psycho-logy, University of She ffie ld, 2002.
[ 7] Gurney K, Presco tt T J, Redg rave P. A com putationa lm ode l of action se lection in the basal gang lia I: A newfunctiona l anatom y [ J]. B io log ical Cybernetic, 2001,84( 6): 401- 410.
[ 8] Izhikevich E M. Smi ple mode l o f sp iking neurons[ J].IEEE Transactions on Neura l Network , 2003, 14( 6):1569- 1572.
[ 9] Prescott T J, Gonzalez F M M, Gurney M D, et a.l Arobo tmode l of the basal gang lia: Behavior and intr insicprocessing [ J]. Neural Netw ork, 2006, 19( 1): 31- 61.
[ 10] A lb in R L, YoungA B, Penney J B. The func tiona l anatom y of basa l gang lia d iso rders[ J] . T rends in Neurosciences, 1995, 18( 2): 63- 64.
[ 11] Gurney K, Presco tt T J, Redg rave P. A com putationa lm ode l of ac tion selection in the basal gang lia II: Ana-lysis and s imu lation of behav iour[ J]. B io log ical Cybe rnetic,2001, 84( 6): 411- 423.
[ 12] Squ ire L R, B loom F E, M cConne ll S K, et a.l Thebasa l gang lia: Fundamental neurosc ience[M ]. 2nd ed.N ew Yo rk, USA: Academ ic Press, 2003: 815- 839.
[ 13] Bergm an H, W ichmann T, Karm on B, e t a.l The pr-im ate subthalam ic nuc leus. ò ) N eurona l ac tiv ity intheMPTP mode l of park insonism [ J] . J Neurophysio ,l1994, 72( 2): 507- 520.
[ 14] FilionM, Tremb lay L, Bedard P J. E ffects o f dopamine agon ists on the spontaneous activity o f g lobuspallidus neurons in m onkeys w ithM PTP- induced Pa rkinson ism [ J]. B ra in-Res, 1991, 547( 1): 152- 61.
[ 15] K itaH, Chang H T, K ita i S T. Them orpho logy o f intracellu la rly labeled ra t subtha lam ic neurons: A lightm icroscop ic analysis [ J ]. J Comp N euro,l 1983,215( 3): 245- 257.722.

相似文献/References:

[1]唐振民,赵春霞,孙怀江,等.地面自主移动平台信息融合与路径规划系统[J].南京理工大学学报(自然科学版),2003,(01):6.
 TangZhenmin ZhaoChunxia SunHuaijiang LuJianfeng YangJingyu.The Information Fusion and Trejectory Planning System for Autonomous Ground Vehicle[J].Journal of Nanjing University of Science and Technology,2003,(06):6.
[2]唐振民,赵春霞,杨静宇,等.基于动态规划思想的多机器人路径规划[J].南京理工大学学报(自然科学版),2003,(05):610.
 TangZhenmin ZhaoChunxia YangJingyu ZhangJin.Multi-robot Path Planning Based on Dynamic Programming[J].Journal of Nanjing University of Science and Technology,2003,(06):610.
[3]沈为民,王炎,赵言正,等.一种用于电站清扫的新型移动机器人的研制[J].南京理工大学学报(自然科学版),2001,(01):53.
 ShenWeimin WangYan ZhaoYanzheng PanPeilin.A Novel Mobile Robot for Power Plant Cleaning[J].Journal of Nanjing University of Science and Technology,2001,(06):53.
[4]郭毓,马勤弟,许春山,等.搬运机器人伺服系统的研究[J].南京理工大学学报(自然科学版),2001,(03):332.
 GuoYu MaQindi XuChunshan HuBin MaoJian.A Study on Servo System of Transport Robot[J].Journal of Nanjing University of Science and Technology,2001,(06):332.
[5]韩军,郝立.机器人关节空间的轨迹规划及仿真[J].南京理工大学学报(自然科学版),2000,(06):540.
 HanJun HaoLi.Trajectory Planning and Simulation of Robot in Joint Coordinate System[J].Journal of Nanjing University of Science and Technology,2000,(06):540.
[6]张恩洲,吴瑞珉.JZ-1 机器人轨迹插补及控制算法[J].南京理工大学学报(自然科学版),1998,(03):56.
 Zhang Enzhou Wu Ruimin.Path Interpolation and Control Algorithms for JZ-1 Robot[J].Journal of Nanjing University of Science and Technology,1998,(06):56.
[7]张恩洲,朱岩,韩军.机器人的逆变换及退化问题[J].南京理工大学学报(自然科学版),1997,(06):54.
 Zhang EnzhouZhu YanHan Jun.Inverse Transformation of Robot and Its Degeneration[J].Journal of Nanjing University of Science and Technology,1997,(06):54.
[8]谭丹娜,薛焕然.换刀机器人位姿误差的研究[J].南京理工大学学报(自然科学版),1996,(02):47.
 Tan Danna Xue Huanran.Study on the Position and Orientation Error of Tool Exchange Robot[J].Journal of Nanjing University of Science and Technology,1996,(06):47.
[9]毕诸明,李小宁.机器人操作机位姿空间的测度[J].南京理工大学学报(自然科学版),1996,(03):265.
 Bi Zhuming,Li Xiaoning.Measurability Posture Space of Robot Manipulator[J].Journal of Nanjing University of Science and Technology,1996,(06):265.
[10]段齐骏,黄德耕.机器人工作空间与包容空间的图解法[J].南京理工大学学报(自然科学版),1996,(04):35.
 Duan Qijun Huang Degen Li Shinan.The Graphic Methods of Robot Workspace and Inscribed Cube[J].Journal of Nanjing University of Science and Technology,1996,(06):35.

备注/Memo

备注/Memo:
基金项目: 国家自然科学基金( 60975075); 江苏省自然科学基金( BK2008404); 教育部博士点基金( 20070288022)作者简介: 王义萍( 1981- ), 男, 博士生, 主要研究方向: 机器人, E-ma il: wangyp1002@ 163. com; 通讯作者: 陈庆伟( 1963- ), 男, 博士, 教授, 博士生导师, 主要研究方向: 智能控制, 伺服系统, E-m ail: cqw 1002@ sina. com。
更新日期/Last Update: 2012-11-02