基于海马体位置细胞的认知地图构建与导航

针对移动机器人环境认知问题,受老鼠海马体位置细胞在特定位置放电的启发,构建动态增减位置细胞认知地图模型(Dynamic growing and pruning place cells-based cognitive map model,DGP-PCCMM),使机器人在与环境交互的过程中自组织构建认知地图,进行环境认知....

Cognitive Map Construction and Navigation Based on Hippocampal Place Cells

Aiming at environmental cognition problem of mobile robot,inspired by the activation of hippocampal place cells in particular regions,a dynamic growing and pruning place cells-based cognitive map model(DGPPCCMM)is established,which enables robot to construct the cognitive map self-organizingly by interacting with the environment and to implement environmental cognition.In the beginning,cognitive map consists of the activated place cell responding to current region;With the interaction with the environment,the responding activated place cells at different regions are gradually obtained,and the relationship among them is established,thus realizing the dynamic growing of the cognitive map;If new obstacles are discovered in the visited area,the cognitive map is updated using dynamic pruning mechanism.Besides,a sequence planning algorithm of place cells is proposed to realize robot navigation,which uses the constructed cognitive map as input.To verify the correctness and validity of the model,the classical Tolman detour task was reproduced.Results show that the model can enable robot to construct and update the cognitive map dynamically in the process of interacting with the environment,and to complete the reproduction of the Tolman detour task substantially.In addition,comparative experiments with occupancy grids,dynamic window approach and discussion about other cognitive map models are carried out,and results show the advantages of the proposed methods in the aspects of simplicity,completeness of the constructed cognitive maps and adaptability to dynamic obstacles.