Inspired by mammal’s spatial awareness and navigation capabilities, a new episodic-cognitive map buildingand path planning method was proposed, used for navigation tasks of mobile robot under the unstructured environment. Combined with characteristic of cognitive map and simulated the formation mechanism of episodicmemory in the hippocampus, a novel episodic-cognitive map encapsulated the information of scene perception,state neuron and pose perception was built, realized the real-time, incremental accumulative and updating cognitionof the robot to the environment. Based on the episodic-cognitive map, using the minimum distance between events,an algorithm of the event sequence planning was put forward for preferred trajectory choosing. Experimental resultsshowed that the proposed algorithms realized the mobile robot choose the preferred planning path, and using theSIFT-based visual navigation method, the mobile robot can reach the target very well. The method in this paperextended the application of biological cognition theory in the field of robotic planning.
Inspired by mammal’s spatial awareness and navigation capabilities, a new episodic-cognitive map buildingand path planning method was proposed, used for navigation tasks of mobile robot under the unstructured environment. Combined with characteristic of cognitive map and simulated the formation mechanism of episodicmemory in the hippocampus, a novel episodic-cognitive map encapsulated the information of scene perception,state neuron and pose perception was built, realized the real-time, incremental accumulative and updating cognitionof the robot to the environment. Based on the episodic-cognitive map, using the minimum distance between events,an algorithm of the event sequence planning was put forward for preferred trajectory choosing. Experimental resultsshowed that the proposed algorithms realized the mobile robot choose the preferred planning path, and using theSIFT-based visual navigation method, the mobile robot can reach the target very well. The method in this paperextended the application of biological cognition theory in the field of robotic planning.