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| Path Planning of Mobile Robots Based on Biological Cognition |
| ZOU Qiang1, CONG Ming1, LIU Dong1, DU Yu2, CUI Yingxue1 |
1. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China;
2. Department of Mechanical Engineering, University of British Columbia, Vancouver V6T1Z4, Canada |
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Abstract Inspired by spatial cognition of mammals, a path planning method of mobile robots based on biological cognition is proposed for navigation tasks of mobile robots in the unstructured environment. Combined with characteristics of the cognitive map, an episodic cognitive map encapsulating the information of scene perception, state neurons and pose perception is built through simulating the formation mechanism of the episodic memory in the hippocampus, and the environment cognition is realized by the robot. Based on the episodic cognitive map, an event sequence planning algorithm for real-time navigation is put forward according to the minimum distance between events. Experimental results show that the mobile robot can choose the best planning path for different tasks with the proposed control algorithm.
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Received: 27 September 2017
Published: 15 November 2018
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