朱祥维1, 沈丹2(), 肖凯1,3, 马岳鑫1, 廖祥4, 古富强5, 余芳文6, 高柯夫7, 刘经南7
收稿日期:
2023-02-17
修回日期:
2023-03-20
接受日期:
2023-03-31
出版日期:
2023-10-15
发布日期:
2023-04-11
通讯作者:
沈丹
E-mail:shend7@mail2.sysu.edu.cn
基金资助:
Xiangwei ZHU1, Dan SHEN2(), Kai XIAO1,3, Yuexin MA1, Xiang LIAO4, Fuqiang GU5, Fangwen YU6, Kefu GAO7, Jingnan LIU7
Received:
2023-02-17
Revised:
2023-03-20
Accepted:
2023-03-31
Online:
2023-10-15
Published:
2023-04-11
Contact:
Dan SHEN
E-mail:shend7@mail2.sysu.edu.cn
Supported by:
摘要:
脑与神经科学近几十年来的快速发展,初步揭示了动物导航的神经机理。借鉴大脑神经结构及信息处理机制,研究类脑仿生智能导航系统,为复杂环境下低功耗高鲁棒的自主智能导航提供了新的灵感。在详细综述了动物空间导航神经机理基础上,概述探讨了当前机器人仿生类脑导航智能算法,从利用脑启发的神经网络方法处理导航信息实现智能导航的角度,归纳为吸引子神经网络、深度强化学习以及脉冲神经网络等3类算法。接着梳理了类脑导航的实现途径,包括仿生智能传感器和智能类脑处理器平台。最后归纳并展望了类脑导航发展趋势,包括进一步探索生物界导航的脑神经机理及其信息处理过程、细分类脑导航概念内涵、评价指标完善的途径和统一实现框架。
中图分类号:
朱祥维, 沈丹, 肖凯, 马岳鑫, 廖祥, 古富强, 余芳文, 高柯夫, 刘经南. 类脑导航的机理、算法、实现与展望[J]. 航空学报, 2023, 44(19): 28569-028569.
Xiangwei ZHU, Dan SHEN, Kai XIAO, Yuexin MA, Xiang LIAO, Fuqiang GU, Fangwen YU, Kefu GAO, Jingnan LIU. Mechanisms, algorithms, implementation and perspectives of brain⁃inspired navigation[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(19): 28569-028569.
表1
大规模神经形态芯片的功能与性能参数比较[203]
类别 | 拓扑 | 神经元 | 突触 | 面积/mm2 | 输出/SOPS | 功耗/mW | 能效GSOPS/W |
---|---|---|---|---|---|---|---|
Neurogrid[ | 树形 | 64 k | 256 k | 149 | N.A. | 169 | 1.1 |
BrainScaleS[ | N.A. | 512 | 112 k | 49 | N.A. | N.A. | 10 |
SpiNNaker[ | 六边形 | 18 k | 18 M | 88.4 | 64M | 1 000 | 64 |
TrueNorth[ | 2D-mesh | 1 M | 256 M | 413 | 3G | 65 | 46 |
Loihi[ | 2D-mesh | 128 k | 128 M | 60 | N.A. | N.A. | <42.4 |
Tianjic[ | 2D-mesh | 39 k | 9.75 M | 14.44 | 608G | 937 | 649 |
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