Spike-timing-dependent plasticity in spiking neuron networks for robot navigation control

摘要

In this paper a biologically-inspired network of spiking neurons is used for robot navigation control. The implemented scheme is able to process information coming from the robot contact sensors in order to avoid obstacles and on the basis of these actions to learn how to respond to stimuli coming from range finder sensors. The implemented network is therefore able of reinforcement learning through a mechanism based on operant conditioning. This learning takes place according to a plasticity law in the synapses, based on spike timing. Simulation results discussed in the paper show the suitability of the approach and interesting adaptive properties of the network.