摘要
随着脑与神经科学以及人工智能技术的持续发展,昆虫和哺乳动物大脑导航机理启发下的感知/认知/路径规划/动作决策一体化类脑导航技术得到了较大发展,可以实现由原始感知信息输入到导航动作决策的直接输出,呈现出接近动物端到端面向目标导航的智能行为,具有提高密集型无人机集群导航鲁棒性、准确性、实时响应动作、自主智能性以及计算效率的潜力。阐述了昆虫和哺乳动物大脑导航机理及其互补对称关系,以及昆虫和哺乳动物大脑导航机理启发的端到端类脑导航技术内涵;论述了类脑导航技术研究进展,包括类脑环境感知、类脑空间认知、面向目标类脑导航;分析了类脑导航向智能化、神经形态系统以及群体导航发展的新趋势;最后讨论了类脑导航技术应用于无人机密集集群系统时存在的挑战。
With the sustained development of brain and neuroscience as well as artificial intelligence,brain-like navigation technology inspired by insect & mammal has been greatly developed,integrating the abilities of perception,cognition,path planning and action decision-making.The brain-inspired navigation can directly produce action decision-making of navigation based on the perception input from raw sensory cues,with emerging intelligence similar to the end-to-end character of goaldirected navigation of animal,which can potentially improve the performance of robustness,accuracy,real-time response to action decision-making,autonomy &intelligence,and computing efficiency of the dense UAV swarm navigation.In this paper,we first make a brief discussion of the neural basis of insect & mammal navigation,the complementary symmetry between insect swarm navigation and mammal navigation,and the concept of brain-like navigation technology inspired by insect& mammal.After that,we emphatically review the state of the art of the brain-inspired end-to-end navigation,including brain-inspired perception,spatial cognition,and goal-directed navigation.Then we describe the new trends of brain-inspired navigation towards intelligence,neuromorphic system and swarm navigation.Finally,we analyse the challenges of applying brain-inspired navigation technology to dense UAV swarm.
作者
杨闯
刘建业
熊智
赖际舟
熊骏
YANG Chuang;LIU Jianye;XIONG Zhi;LAI Jizhou;XIONG Jun(Navigation Research Center,College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Key Laboratory of Navigation,Control and Health-Management Technologies of Advanced Aerocraft,Ministry of Industry and Information Technology,Nanjing 211106,China;Satellite Communication and Navigation Collaborative Innovation Center,Nanjing 210016,China)
出处
《航空学报》
EI
CAS
CSCD
北大核心
2020年第1期30-44,共15页
Acta Aeronautica et Astronautica Sinica
基金
国家自然科学基金(61873125,61673208,61703208,61533008,61533009,61973160)
江苏省自然科学基金(BK20181291)
中央高校基本科研业务费专项资金(NP2018108,NZ2019007)
江苏省六大人才高峰项目基金(2015-XXRJ-005)。
关键词
类脑导航
感知与动作决策一体化
大脑导航
神经形态系统
类脑集群导航
无人机密集集群
人工智能
brain-inspired navigation
integration of perception and action decision
brain navigation
neuromorphic system
brain-inspired swarm navigation
dense UAV swarm
artificial intelligence
