Noise-immune zeroing neural dynamics for dynamic signal source localization system and robotic applications in the presence of noise

Zhao, Yuxin, Wu, Jiahao and Zheng, Mianjie 2025. Noise-immune zeroing neural dynamics for dynamic signal source localization system and robotic applications in the presence of noise. Frontiers in Neurorobotics. 19 1546731. https://doi.org/10.3389/fnbot.2025.1546731

TitleNoise-immune zeroing neural dynamics for dynamic signal source localization system and robotic applications in the presence of noise
TypeJournal article
AuthorsZhao, Yuxin, Wu, Jiahao and Zheng, Mianjie
AbstractTime angle of arrival (AoA) and time difference of arrival (TDOA) are two widely used methods for solving dynamic signal source localization (DSSL) problems, where the position of a moving target is determined by measuring the angle and time difference of the signal's arrival, respectively. In robotic manipulator applications, accurate and real-time joint information is crucial for tasks such as trajectory tracking and visual servoing. However, signal propagation and acquisition are susceptible to noise interference, which poses challenges for real-time systems. To address this issue, a noise-immune zeroing neural dynamics (NIZND) model is proposed. The NIZND model is a brain-inspired algorithm that incorporates an integral term and an activation function into the traditional zeroing neural dynamics (ZND) model, designed to effectively mitigate noise interference during localization tasks. Theoretical analysis confirms that the proposed NIZND model exhibits global convergence and high precision under noisy conditions. Simulation experiments demonstrate the robustness and effectiveness of the NIZND model in comparison to traditional DSSL-solving schemes and in a trajectory tracking scheme for robotic manipulators. The NIZND model offers a promising solution to the challenge of accurate localization in noisy environments, ensuring both high precision and effective noise suppression. The experimental results highlight its superiority in real-time applications where noise interference is prevalent.
Keywordstrajectory tracking scheme
time-difference-of-arrival (TDOA) scheme
angle-of-arrival (AoA) scheme
noise-immune zeroing neural dynamics (NIZND)
robotic manipulator
dynamic signal source localization
Article number1546731
JournalFrontiers in Neurorobotics
Journal citation19
ISSN1662-5218
Year2025
PublisherFrontiers Media S.A.
Publisher's version
License
CC BY 4.0
File Access Level
Open (open metadata and files)
Digital Object Identifier (DOI)https://doi.org/10.3389/fnbot.2025.1546731
PubMed ID39975484
Publication dates
Published online05 Feb 2025
Licensehttp://creativecommons.org/licenses/by/4.0/

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