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Scene cognition map building and navigation method based on mouse cerebral hippocampal

A technology of cognitive maps and navigation methods, which is applied in navigation, surveying and navigation, navigation computing tools, etc., can solve the problems that map construction methods and navigation research have not set off a research boom, and achieve initiative and adaptability. The effect of low hardware requirements

Active Publication Date: 2017-07-14
BEIJING UNIV OF TECH
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Problems solved by technology

But biologically-inspired mapping methods and navigation research still haven't sparked a wave of research

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  • Scene cognition map building and navigation method based on mouse cerebral hippocampal
  • Scene cognition map building and navigation method based on mouse cerebral hippocampal
  • Scene cognition map building and navigation method based on mouse cerebral hippocampal

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Embodiment Construction

[0050] Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

[0051] Implementation scheme of the present invention is:

[0052] S1 According to the cognitive model of the hippocampal structure of the mouse brain, the robot CPU will initialize the head-facing cell layer H, the striae cell layer S, the grid cell layer G, and the place cell layer P. Each grid cell unit has different properties, that is, the spacing , orientation, phase, each position cell is formed after grid cell competition, which represents different position information. Different place cells correspond to different spatial positions. At the same time, the robot will initialize the RGB image input and depth image input of the external heterogeneous information input source depth camera, which are the IMAGE stream and the DEPTH stream respectively;

[0053] S2 The robot explores the environment, and the robot uses the motion acquisition device to col...

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Abstract

The invention discloses a scene cognition map building and navigation method based on a mouse cerebral hippocampal, and belongs to the technical field of robot environment cognition and motion navigation. When a position discharging rate explored by a robot is larger than a position cell discharging threshold, discharging information Pfire, position Plocation and environment scene information O need to be recorded, and the information is recorded on a scene cognition map. Robot navigation, namely, navigation from an initial position to a specific object position in a specific scene, is finished through space information stored on the scene cognition map. By adopting the scene cognition map building and navigation method, the robot can explore an environment autonomously, environment information is changed into the scene cognition map of the robot, and a corresponding navigation strategy is made according to the cognition map. The whole set of system has a good space cognition effect, and can be applied to scene cognition map building and navigation of indoor environments such as plants, families and laboratories, and outdoor environments such as streets.

Description

technical field [0001] The invention relates to a robot cognitive map construction and navigation method based on the cognitive mechanism of the hippocampus of the mouse brain and the cognitive memory of the scene. According to the cognitive mechanism of the hippocampus of mammals, the external environment information is expressed through the spatial cells of the hippocampus. This method is used for the navigation of autonomous mobile robots in unstructured and multi-scale environments. Background technique [0002] An intelligent mobile robot is a robot system that can perceive the unknown environment of the outside world and its own state through its own sensors, and realize target-oriented autonomous barriers in an environment with obstacles, thereby completing certain functions. Generally speaking, mobile robots rely on sensors to complete the movement from the starting point to the target point in the environment according to the established tasks, that is, to solve the...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 于乃功蒋晓军苑云鹤罗子维翟羽佳方略
Owner BEIJING UNIV OF TECH
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