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Navigation method based on bionic hippocampus cognitive map

A technology for cognitive maps and navigation methods, applied in navigation computing tools and other directions, can solve problems such as complex navigation methods

Inactive Publication Date: 2018-08-03
BEIJING UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For mammals, the way to navigate is more complicated

Method used

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  • Navigation method based on bionic hippocampus cognitive map
  • Navigation method based on bionic hippocampus cognitive map
  • Navigation method based on bionic hippocampus cognitive map

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Embodiment Construction

[0083] The mobile robot used in the present invention is made up of two parts, one part is the Turtlebot2 open source robot platform of iRobot company responsible for information collection and executive mechanism, and the other part is the computing platform DELL high-performance notebook computer responsible for processing data. Turtlebot2 is equipped with gyroscope, photoelectric encoder and Xtion3D camera equipment, responsible for the collection of external information of the mobile robot.

[0084] Concrete implementation steps of the present invention are as follows:

[0085] Step (1) Build a cognitive map based on the cognitive mechanism of the rat brain hippocampus.

[0086] Step (1.1) Construct the head-facing cell model

[0087]An animal encodes its direction of motion by relying on the protruding head-facing cell. Head-facing cells play an important role in locomotion in rats. When the rat's head was oriented in a specific direction, characteristic discharges occ...

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Abstract

The invention relates to a navigation method based on bionic hippocampus cognitive map, which belongs to the field of bionic mobile robot navigation. A cognitive map belongs to a topology map, each node of the cognitive map comprises biological characteristic information, environment RGB-D information, and association information of multiple interdependent nodes. By combining with the cognitive map, a Dijkstra algorithm is used, through an analysis, the various information in each node and a target-heading physical distance are subjected to weighted sum, the algorithm is improved, and a globalpath with maximum characteristic information and shortest physical distance can be obtained. According to inflection point numbers, the node with the most abundant characteristic surrounding the inflection point is found by the local navigation as a terminal point of the local navigation, through SURF image characteristic point extraction, a translation matrix and a rotation matrix between two frames are compared, and the error correction is carried out. The global navigation is segmented to multiple segments, the local navigation is carried out, and the accumulation error in continuous navigation can be reduced. The bionic hippocampus cognitive map can be effectively used in a practical navigation process, and a good utility effect can be obtained.

Description

Technical field: [0001] The invention belongs to the field of bionic mobile robot navigation, and introduces the most popular brain-like computing hippocampus physiological phenomena in biological navigation, and presents them in an engineering manner. Combined with the more popular traditional navigation method, the brain activity of the hippocampus during the movement of the creature is successfully simulated on the mobile robot, and it has certain practical value. Background technique: [0002] As one of the greatest inventions of the twentieth century, robotics has developed rapidly over the past 60 years since it came out in the early 1960s and has become one of the representative strategic technologies in the high-tech field. In recent years, with the popularity of artificial intelligence, the research of intelligent robots has been paid more and more attention by everyone. Brain-like computing is extremely important as the basic research of artificial intelligence. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 于乃功苑云鹤翟羽佳
Owner BEIJING UNIV OF TECH
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