摘要
为了构建具有类似于人和动物环境认知机理的移动机器人,详细介绍了海马解剖学结构、信息传递回路、环境认知相关细胞空间放电认知机理.将鼠脑海马结构认知机理应用在机器人平台上,并通过介绍一种典型仿鼠脑海马结构认知机理的机器人导航模型来阐述大鼠脑海马结构在机器人导航中的应用.结果表明:机器人进入某一环境时能够自主地探索其所处空间环境,经过不断的探索,最终形成其对所处环境的表征,即成功构建所处空间环境的认知地图,根据认知地图实现机器人在复杂环境中面向目标对象的导航任务.
To construct a mobile robot with environmental cognitive mechanism which is similar to that of human beings and animals,the structure of the hippocampus,the loop of information transformation and the spatial discharge cognitive mechanism of the cells related to the environmental cognition were described in detail in this paper.The cognitive mechanism of the hippocampal formation was applied to the robot platform and a typical model of the structure of the hippocampus was introduced to elaborate its application in the robot navigation.The results show that the robot can enter an environment and explore the space environment freely.Through continuous exploration, the robot ultimately forms the representation of the environment,namely,it constructs the cognitive map of the environment successfully and then accomplishes its navigation task in complex environment based on cognitive map.
出处
《北京工业大学学报》
CAS
CSCD
北大核心
2017年第3期434-442,共9页
Journal of Beijing University of Technology
基金
国家自然科学基金资助项目(61573029)
北京市自然科学基金资助项目(4162012)
关键词
海马结构
位置细胞
头朝向细胞
网格细胞
认知机理
机器人导航
hippocampal formation
place cells
head-direction cells
grid cells
cognitive mechanism
robot navigation
