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
CN102401656AInactive Publication Date: 2012-04-04FOURTH MILITARY MEDICAL UNIVERSITY
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
FOURTH MILITARY MEDICAL UNIVERSITY
Publication Date
2012-04-04
Estimated Expiration
Not applicable · inactive patent

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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.
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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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