Hardware Feedback Self-Organizing Map and its Application to Mobile Robot Location Identification
Hiroomi Hikawa*, Kazutoshi Harada*, and Takenori Hirabayashi**
* Dept. of Computer Science and Intelligent Systems, Oita University, Oita 870-1192, Japan
** Shinko Electric Co., Ltd., Minato-ku, Tokyo 105-8564, Japan
We propose new hardware architecture for the self-organizing map (SOM) and feedback SOM (FSOM). Due to the parallel structure in the SOM and FSOM algorithm, customized hardware considerably speeds-up processing. Proposed hardware FSOM identifies the location of a mobile robot from a sequence of direction data. The FSOM is self-trained to cluster data to identify where the robot is. The proposed FSOM design is described in C and VHDL, and its performance is tested by simulation using actual sensor data from an experimental mobile robot. Results show that the hardware FSOM succeeds in self-learning to find the robot’s location. The hardware FSOM is estimated to process 6,992 million weight-vector elements per second.
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