The invention discloses a biological
heuristic navigation control method and
system, and relates to the technical field of automatic driving and
robot control, and the method comprises the following steps: extracting environment features by using multi-
source data fusion and semantic segmentation, and constructing a
topological map containing
semantic information through a graph neural network; then, a bionic model containing reward signals, local loops and value coding neurons is established in graph nodes of the
topological map; wherein a memory integral term with an
exponential decay kernel function is introduced into the
local loop and the value coding
neuron so as to integrate the historical state. During navigation, a reward
signal is reversely propagated from a navigation target point along the
topological map, and a reward
signal neuron is activated; and monitoring value coding
neuron discharge rates of neighbor graph nodes in real time, selecting the
graph node with the highest
discharge rate as a next moment target according to a
greedy algorithm strategy, and dynamically planning a
navigation path. According to the invention, autonomous navigation in a non-
signal or weak-signal environment is realized, and decision robustness and
data security are improved.