Title: A robot navigation algorithm based on cognitive mechanism of hippocampus

Authors: Nai-Gong Yu; Yi-Shen Liao; Ya-Qian Wei; Jian-Jun Yu; Chun-Lei Yin

Addresses: Beijing University of Technology, Beijing 100124, China ' Beijing University of Technology, Beijing 100124, China ' Beijing University of Technology, Beijing 100124, China ' Beijing University of Technology, Beijing 100124, China ' Goertek Inc., Weifang 261031, China

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.

Keywords: spatial cells; cognitive map; hippocampus formation; path planning; goal-oriented navigation.

DOI: 10.1504/IJWMC.2021.119060

International Journal of Wireless and Mobile Computing, 2021 Vol.21 No.1, pp.32 - 40

Received: 24 Nov 2020
Accepted: 27 Feb 2021

Published online: 13 Nov 2021 *

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