ニューロモーフィックハードウェア上の深層畳み込みニューラルネットワークを用いた自動運転ロボット
A Self-Driving Robot Using Deep Convolutional Neural Networks on Neuromorphic Hardware
IBM TrueNorth NS1eをバッテリー駆動のAndroidロボットに搭載し、山道の手動走行データで深層CNNを学習させて、リアルタイムで急な山道を走行できる閉ループ自動運転を実現した。
著者: Tiffany Hwu, Jacob Isbell, Nicolas Oros, Jeffrey Krichmar
分類: cs.NE, cs.RO
原文アブストラクト
Neuromorphic computing is a promising solution for reducing the size, weight and power of mobile embedded systems. In this paper, we introduce a realization of such a system by creating the first closed-loop battery-powered communication system between an IBM TrueNorth NS1e and an autonomous Android-Based Robotics platform. Using this system, we constructed a dataset of path following behavior by manually driving the Android-Based robot along steep mountain trails and recording video frames from the camera mounted on the robot along with the corresponding motor commands. We used this dataset to train a deep convolutional neural network implemented on the TrueNorth NS1e. The NS1e, which was mounted on the robot and powered by the robot's battery, resulted in a self-driving robot that could successfully traverse a steep mountain path in real time. To our knowledge, this represents the first time the TrueNorth NS1e neuromorphic chip has been embedded on a mobile platform under closed-loop control.
