Robot navigation method based on visual perception and spatial cognitive neural mechanism

Abstract

The invention relates to a robot navigation method based on visual perception and a spatial cognitive neural mechanism. The collected visual images are transformed into visual nodes representing position and orientation angle information of the robot through a neural network to form a visual cell; a visual code of the visual cell is transformed into a spatial description of the environment, and acognitive map, similar to what is formed in the brain when the mammal freely moves, is constructed; and positioning and navigation of the robot are realized based on the cognitive map. According to aneural computation system of environment perception and spatial memory, the robot completes a series of tasks such as visual processing, spatial representation, self-positioning, and map update, thereby realizing robotic navigation with high bionics and strong autonomy in an unknown environment. Compared with the traditional simultaneous localization and mapping SLAM technology, the robot navigation method based on visual perception and the spatial cognitive neural mechanism in the invention avoid a series of complex calculations such as manual design visual features and feature point matchingand greatly improve the robustness of the system to factors such as illumination changes, viewing angle changes, object motion and the like in the natural environment.

Description

technical field [0001] The invention relates to a brain-like navigation method. Specifically, it is a system that utilizes visual perception and spatial cognition neurocomputing mechanisms for robots to navigate in unknown environments. Background technique [0002] Robot autonomous navigation research mainly focuses on: "where" (positioning); "where to go" (path planning). Although the existing navigation technology solves these two problems to a certain extent, it still has great defects, such as the low positioning accuracy of GPS technology, and the inability to provide navigation information normally in special or hidden environments such as indoors, underwater, and after disasters. ; The traditional robot localization and map construction technology (SLAM) relies on expensive sensors such as odometer and laser, and the spatial perception information is single. Visual navigation has become a research hotspot in recent years due to its rich perceptual information sourc...

AI Technical Summary

Problems solved by technology

Although this research field has great impetus for the further development of robot navigation technology, due to a series of factors such as the difficulty of brain science exploration, there are still few breakthroughs in this research.

Images