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Place cell bionic robot navigation algorithm

A bionic robot and navigation algorithm technology, applied in the field of position cell bionic robot navigation algorithm, can solve problems such as different position fields

Inactive Publication Date: 2012-04-04
FOURTH MILITARY MEDICAL UNIVERSITY
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  • Abstract
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Problems solved by technology

[0008] 5. The same place cells may be emitted in different environments, with completely different place fields;

Method used

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  • Place cell bionic robot navigation algorithm

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Embodiment Construction

[0020] The present invention will be described in detail below in conjunction with specific embodiments.

[0021] Such as figure 1 The hardware based on the location cell bionic robot navigation algorithm of the present invention shown in the present invention includes: a wide-angle camera for acquiring external images; a DSP chip for performing algorithms related to robot learning and cognitive environment; driving wheels, according to the DSP chip The movement commands issued drive the robot movement.

[0022] Biological place cells are only related to the location of the creature, and have nothing to do with the direction and speed of its movement. In order to mimic biological place cells, place cells are modeled with variables in the software environment of the DSP.

[0023] Such as figure 2 As shown, firstly, the robot’s wide-angle camera takes a panoramic photo, and converts it into a gradient map in order to remove the interference of brightness, and then filters it...

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Abstract

The invention discloses a place cell bionic robot navigation algorithm which comprises the steps of: A1, firstly, capturing a panoramic photo by a robot wide angle camera, converting the panoramic photo into a gradient image, then filtering the gradient image by using a Gaussian difference filter, detecting characteristic points, carrying out log polar transformation on a local region near the characteristic points, wherein the characteristic points correspond to special road signs; A2, obtaining angle of each road sign relative to the true north direction as an azimuth angle, wherein the true north direction is provided by a compass and the azimuth angles and the road signs jointly determine a position cell of the current time; A3, jointly determining a transfer matrix by the position cell of the current time and a position cell of the former time, when a robot explores in an unknown environment, continuously forming transfer matrixes, forming a cognitive map by the transfer matrixes; and A4, jointly determining a movement transformation matrix by the transfer matrixes and the cognitive map, wherein the movement transformation matrix is in charge of sending a movement command. The invention can be applied to an intelligent ground-cleaning robot, a battlefield searching and rescuing robot, and the like.

Description

technical field [0001] The invention relates to a position cell bionic robot navigation algorithm. Development of an Autonomous Robot Navigation Algorithm Based on Navigation Strategies of Mammalian Hippocampal Place Cells. It can be used for intelligent cleaning ground robots, battlefield search and rescue robots, etc. Background technique [0002] Mammals (eg rats, humans, etc.) spend a significant amount of time moving from one location to another. Purposeful movement requires the encoding of motivation, space. The encoding of space and motivation in animals is robust Research on its mechanism has important implications for the field of artificial intelligence. [0003] "Cognitive maps" refer to the way animals internally represent spatial information. A cognitive map can be represented by a series of landmarks. In the process of tens of seconds to a few minutes, you can be familiar with the environment and remember it accurately. "Place cells" are pyramidal neuron...

Claims

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Application Information

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IPC IPC(8): G01C21/00
Inventor 谢康宁罗二平申广浩井晓荣闫一力吴小明汤池徐巧玲路丽华文峻刘娟孙涛
Owner FOURTH MILITARY MEDICAL UNIVERSITY
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