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Multi-scale target-oriented navigation method based on cortical column network wavefront propagation

A goal-oriented, navigation method technology, applied in the field of robot bionic navigation

Active Publication Date: 2019-10-01
BEIJING UNIV OF TECH
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  • Application Information

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Problems solved by technology

Martinet et al. built a navigation system with a network of cortical columns, but the system can only operate in a single-scale environment

Method used

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  • Multi-scale target-oriented navigation method based on cortical column network wavefront propagation
  • Multi-scale target-oriented navigation method based on cortical column network wavefront propagation
  • Multi-scale target-oriented navigation method based on cortical column network wavefront propagation

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Embodiment Construction

[0042] A learning robot that simulates rats in the Tolman maze experiment. Briefly describe the Tolman maze experiment: Tolman maze apparatus such as figure 2 As shown, there are three channels with different lengths from the start point to the end point. Food is placed at the end point, and the rat is placed in the maze. The rat will explore the maze and find the food. After many rounds of experiments, the rat finally chooses the middle road with the shortest distance. Place an obstacle at point A, and after several explorations, the rat finally chooses the left road with the shortest distance at this time. If an obstacle is placed at point B, the rat chooses the right road. The Tolman maze experiment proposed the concept of a cognitive map in the rat brain. The invention realizes the Tolman maze experiment by constructing the cortical column network in the cerebral cortex. The robot has a pair of motors and encoders for travel and path integration, and a lidar to detect...

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Abstract

The invention discloses a multi-scale target-oriented navigation method based on cortical column network wavefront propagation, and belongs to the field of biomimetic navigation. The multi-scale target-oriented navigation method is characterized in that a cortical column network belongs to a cognitive map, and each cortical column unit comprises a plurality of neurons for receiving reward information, position information and the like. On the basis of the cortical column network, a wavefront propagation algorithm is used for path planning and navigation. Through a network weight STDP learninglaw, the system can calculate the shortest path leading to a target, and can memorize the change of the environment. Wavefront propagation adopts an integrated excitation type neuron, belongs to a non-attenuation navigation algorithm, and is suitable for navigation in various scale environments. In a navigation experiment, the multi-scale target-oriented navigation method can be used for successfully navigating in various scales and real-time changing environments, and has a relatively good practical effect.

Description

technical field [0001] The invention belongs to the field of robot bionic navigation, and belongs to one branch of robot target-oriented navigation in recent years, and relates to a neural network organization method, in particular to a cortical column network organization method and a neuron activity propagation method. Background technique [0002] The intelligence of robots is the general trend of the future. As an important part of many intelligences, robot's environmental cognition and goal-oriented navigation are the hotspots and difficulties of current research. Inspired by the flexibility of living beings to perform space tasks, current scientific research attempts to understand environmental cognition from a physiological point of view and apply it to robots so that they have cognitive abilities similar to humans or animals, so that they can be truly applied to challenging space tasks , such as autonomous driving, etc. With the physiological discovery of cells ref...

Claims

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Application Information

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IPC IPC(8): G06N3/063G06N3/08G01C21/20
CPCG01C21/20G06N3/063G06N3/08
Inventor 阮晓钢武悦黄静柴洁
Owner BEIJING UNIV OF TECH
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