Development and Implementation of Neuromorphic Elements of the Information and Control System of a Mobile Robot

The task of developing and applying neuromorphic elements of an information control system for mobile robots is considered. The description of the compartmental spiking neuron model used in the work and the algorithm of its structural learning is given. The elements of the information control system used in the work are described: a neuromorphic emergency detector, a neuromorphic extrapolator, and a neuromorphic model for the formation of associative connections. Based on these elements, a scheme for the formation of a conditioned reflex reaction with negative reinforcement is proposed. In addition, a scheme is considered that allows a mobile robot to move at a given distance from the wall. The first of these schemes was tested on a real mobile robotics platform. The conclusion is made about the possibility of constructing neuromorphic information control systems from the presented elements and the prospects for the development of this approach.