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首页> 外文期刊>EURASIP journal on advances in signal processing >Vector Field Driven Design for Lightweight Signal Processing and Control Schemes for Autonomous Robotic Navigation
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Vector Field Driven Design for Lightweight Signal Processing and Control Schemes for Autonomous Robotic Navigation

机译：自主机器人导航的轻量信号处理和控制方案的矢量场驱动设计

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We address the problem of realizing lightweight signal processing and control architectures for agents in multirobot systems. Motivated by the promising results of neuromorphic engineering which suggest the efficacy of analog as an implementation substrate for computation, we present the design of an analog-amenable signal processing scheme. We use control and dynamical systems theory both as a description language and as a synthesis toolset to rigorously develop our computational machinery; these mechanisms are mated with structural insights from behavior-based robotics to compose overall algorithmic architectures. Our perspective is that robotic behaviors consist of actions taken by an agent to cause its sensory perception of the environment to evolve in a desired manner. To provide an intuitive aid for designing these behavioral primitives we present a novel visual tool, inspired vector field design, that helps the designer to exploit the dynamics of the environment. We present simulation results and animation videos to demonstrate the signal processing and control architecture in action.
机译：我们解决了为多机器人系统中的代理实现轻量级信号处理和控制体系结构的问题。受神经形态工程学的有前途的结果的启发，这些结果表明了模拟物作为计算的实现基质的功效，我们提出了一种模拟物适合信号处理方案的设计。我们将控制和动力学系统理论用作描述语言和综合工具集，以严格发展我们的计算机制。这些机制与基于行为的机器人技术的结构见解相结合，构成了整体算法体系结构。我们的观点是，机器人行为包括由代理采取的促使其对环境的感官感知以所需方式演变的动作。为了为设计这些行为原语提供直观的帮助，我们提供了一种新颖的可视化工具，即启发性矢量场设计，可帮助设计人员利用环境的动态变化。我们提供仿真结果和动画视频，以演示实际的信号处理和控制架构。

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