neon: neuromorphic navigation with danna · example 15x15 danna network lidar 2 lidar 3 lidar 4...
TRANSCRIPT
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/ONeuronSynapseOutputInput
Legend
Example 15x15 DANNA Network
LIDAR 2
LIDAR 3
LIDAR 4LIDAR 5
SWITCH 1
SWITCH 2
Left Motor FWLeft Motor BW
Right Motor BWRight 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
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