Hardware Self-Organizing Map for Mobile Robot Location Identification

Kazutoshi Harada; Takenori Hirabayashi; Hiroomi Hikawa

doi:10.14864/softscis.2006.0.520.0

SCIS & ISIS 2006

Session ID : TH-B4-4

DOI https://doi.org/10.14864/softscis.2006.0.520.0

Conference information

Host: Japan SOciety for Fuzzy Theory and intelligent informatics

Co-host: The Korea Fuzzy Logic and Intelligent Systems Society, IEEE Computational Intelligence Society, The International Fuzzy Systems Association, 21th Century COE Program "Creation of Agent-Based Social Systems Sciences"

TH-B4 Biomimetic Machines and Robots (3)

Hardware Self-Organizing Map for Mobile Robot Location Identification

*Kazutoshi Harada, Takenori Hirabayashi, Hiroomi Hikawa

Author information

Keywords: self organizing map, hardware, robot

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

This paper proposes hardware architecture for the self-organizing map (SOM). Due to the parallel structure of the SOM, a considerable speed-up can be expected by the custom hardware. After verifying the operation of the hardware SOM, it is extended to implement a feedback SOM. The feedback SOM is used to identify the location of a mobile robot. The proposed SOM design is described by VHDL and its performance is tested by simulations using actual sensory data from the experimental robot. Results show that the feedback SOM successfully segments the environment where the robot operates. Also the circuit size of the SOM is considerably small and its performance is estimated as 3,400 million weight update per second.

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