A memristor-based hybrid analog-digital computing platform for mobile robotics
Buyun Chen, Hao Yang, Boxiang Song, Deming Meng, Xiaodong Yan, Yuanrui Li, Yunxiang Wang, Pan Hu, Tse‐Hsien Ou, Mark Barnell, Qing Wu, Han Wang, Wei Wu
Abstract
Algorithms for mobile robotic systems are generally implemented on purely digital computing platforms. Developing alternative computational platforms may lead to more energy-efficient and responsive mobile robotics. Here, we report a hybrid analog-digital computing platform enabled by memristors on a mobile inverted pendulum robot. Our mobile robotic system can tune the conductance states of memristors adaptively using a model-free optimization method to achieve optimal control performance. We implement sensor fusion and the motion control algorithms on our hybrid analog-digital computing platform and demonstrate more than one order of magnitude enhancement of speed and energy efficiency over traditional digital platforms.