A robot navigation algorithm based on cognitive mechanism of hippocampus Online publication date: Fri, 19-Nov-2021
by Nai-Gong Yu; Yi-Shen Liao; Ya-Qian Wei; Jian-Jun Yu; Chun-Lei Yin
International Journal of Wireless and Mobile Computing (IJWMC), Vol. 21, No. 1, 2021
Abstract: The hippocampal formation in the animal brain is the core brain region to realise spatial cognition. Aiming at the problems of inaccurate loop closure detection and lack of effective obstacle perception mechanism in current bionic navigation model, this paper proposes a robot navigation algorithm based on hippocampal cognitive mechanism. Firstly, according to the information transmission mechanism of hippocampal formation and the activation theory of hippocampal spatial cells, we construct calculation models of grid cells, border cells, place cells and view cells. Then, the location information, visual information and obstacle information encoded by the spatial cells are fused to build a cognitive map. Finally, according to the obtained cognitive map, we use an A* algorithm to obtain a relatively shorter path and complete the goal-oriented navigation task. The method is verified by the simulation experiment, proving its effectiveness and reliability.
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