neon: neuromorphic navigation with danna example 15x15 danna network lidar 2 lidar 3 lidar 4 lidar 5

Download NeoN: Neuromorphic Navigation with DANNA Example 15x15 DANNA Network LIDAR 2 LIDAR 3 LIDAR 4 LIDAR 5

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  • NeoN: Neuromorphic Navigation with DANNA

    J. Parker Mitchell, Grant Bruer, Mark E. Dean

  • Overview

    ● EECS Senior Design Project ● Create roaming robot

    ○ Avoid obstacles ○ Avoid ledges

    ● Design a physical framework for deploying DANNA

    ● Explore robotics control as a problem domain

  • Robot Design

    ● Tank style drivetrain ● LIDAR mounted on servo ● Limit switches ● All computation through FPGA

    30° 30° 30°

    30°

  • Network I/O

    Lidar Reading (meters)

    Fire Weight

    LIDAR Fire Weight Conversion

    ● 9 Inputs ○ 5 LIDAR readings ○ 2 switches ○ Bias ○ Random

    ● 4 Outputs ○ Left motor forward/backward ○ Right motor forward/backward

  • Network I/O Neuron Synapse Output Input

    Legend

    Example 15x15 DANNA Network

    LIDAR 2

    LIDAR 3

    LIDAR 4 LIDAR 5

    SWITCH 1

    SWITCH 2

    Left Motor FW Left Motor BW

    Right Motor BW Right Motor FW

    RANDOM

    BIAS

    LIDAR 1

  • Training ● Train using evolutionary optimization (EO) ● Simulate in an empty room, room with

    obstacles, and table with obstacles ● Score based on grid coverage ● Penalize for critical failures

    ○ Hitting an obstacle ○ Falling off ledge

    Grid Coverage Example

  • Simulation Video

    http://www.youtube.com/watch?v=A6x2jC71-0g

  • Future Work

    ● DANNA with leaky IAF neurons ● Nonsquare networks, input spacing ● Optimized FPGA logic ● Harder task

    ○ Target tracking ○ Autonomous flying drone

    ● Implementation with mrDANNA

  • Any Questions?

    Visit our website at neuromorphic.eecs.utk.edu