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Robot situational cognitive map constructing and navigating method based on mouse brain location cells

A cognitive map, robot technology, applied in the construction and navigation field of robot situational cognitive map

Active Publication Date: 2019-04-23
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the research on episodic memory is mainly used to track memory paths, object and scene recognition, etc., and there are few studies on how to use episodic memory to plan the path of robots

Method used

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  • Robot situational cognitive map constructing and navigating method based on mouse brain location cells
  • Robot situational cognitive map constructing and navigating method based on mouse brain location cells
  • Robot situational cognitive map constructing and navigating method based on mouse brain location cells

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Embodiment Construction

[0096] Compared with the traditional SLAM algorithm, the robot situational cognition map construction method based on the positioning cells in the hippocampus of the mouse brain proposed by this method does not require high-precision sensors and can save costs; The robot completes the accurate construction of the situational cognition map. The navigation method makes global and local planning for the robot's moving trajectory, which can greatly reduce the moving time of the robot and enable the robot to accurately move to the location of the target.

[0097] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings and technical solutions.

[0098] In the embodiment, the following implementation modes are adopted:

[0099] Step (1): Collect data, use the computer to control the mobile robot to move in the environment, collect the speed of the robot and the image information of the position point, and the sa...

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Abstract

The invention belongs to the field of robot technologies and application, and relates to a robot situational cognitive map constructing and navigating method based on mouse brain location cells. In the process of exploring the environment, own motion information and image information in the front part are obtained through a robot, and the own motion information is transferred to a grid cell computing model, so that a corresponding location cell model is generated; by defining an event, location information in space and the obtained image information of the robot are encapsulated, and the eventis marked by state neurons; in the process of exploration, the state neurons are constantly generated to cover the entire environment and form a situational cognitive map of the environment; the generated situational cognitive map is utilized, and a global path planning algorithm is adopted to realized robot navigation based on a target; and through a local path planning algorithm, the global path of the robot is further optimized by a laser ranging sensor, and real-time obstacle avoidance and path local optimization of the robot are realized.

Description

technical field [0001] The invention belongs to the field of robot technology and application, and relates to a method for constructing and navigating a robot scene cognition map based on mouse brain positioning cells. Background technique [0002] Spatial cognition is a fundamental ability for animals to perform cognitive tasks. It mainly includes exploring the unknown environment, constructing maps, localizing and navigating. For decades, researchers have studied how animals perceive and navigate unknown environments. Neuroscience research has found that there are cells related to spatial cognition in the hippocampus and its surrounding areas of animals. [0003] In the early research on spatial cognition, in 1948, Tolman proposed the concept of cognitive map, that is, to express the spatial relationship between salient landmarks in the environment through cognitive map. In 1971, O'Keefe discovered that there is a special kind of neuron in the hippocampus of the mouse b...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/32
CPCG01C21/206G01C21/32
Inventor 刘冬邹强丛明崔瑛雪吕志
Owner DALIAN UNIV OF TECH
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