The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and navigation.These cells can integrate their moment information and external perceptual information and acqu...The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and navigation.These cells can integrate their moment information and external perceptual information and acquire episodic cognitive memory.Through episodic cognition and memory,organisms can achieve autonomous navigation in complex environments.This paper mainly studies the strategy of robot episode navigation in complex environments.After exploring the environment,the robot obtains subjective environmental cognition and forms a cognition map.The grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced area.The synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode nodes.When the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer sub-targets.Based on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering obstacles.This paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.展开更多
基金National Natural Science Foundation of China,61773139,Fusheng Zha51521003,Fusheng Zha+6 种基金52075115,Fusheng ZhaU2013602,Fusheng Zha61911530250,Fusheng ZhaShenzhen Science and Technology Research and Development Foundation,JCYJ20190813171009236,Fusheng ZhaShenzhen Science and Technology Program,KQTD2016112515134654,Fusheng ZhaSelf-Planned Task of State Key Laboratory of Robotics and System(HIT),SKLRS202001B,Fusheng ZhaSKLRS202110B,Fusheng Zha.
文摘The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and navigation.These cells can integrate their moment information and external perceptual information and acquire episodic cognitive memory.Through episodic cognition and memory,organisms can achieve autonomous navigation in complex environments.This paper mainly studies the strategy of robot episode navigation in complex environments.After exploring the environment,the robot obtains subjective environmental cognition and forms a cognition map.The grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced area.The synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode nodes.When the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer sub-targets.Based on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering obstacles.This paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.
