Bionic Path Planning Fusing Episodic Memory Based on RatSLAM
Inspired by rodents’ ability to navigate freely in a given space, bionavigation systems provide alternatives to traditional probabilistic solutions. This paper proposed a bionic path planning method based on RatSLAM to provide a novel viewpoint for robots to make a more flexible and intelligent navi...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/8/1/59 |
| _version_ | 1797613276146696192 |
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| author | Shumei Yu Haidong Xu Chong Wu Xin Jiang Rongchuan Sun Lining Sun |
| author_facet | Shumei Yu Haidong Xu Chong Wu Xin Jiang Rongchuan Sun Lining Sun |
| author_sort | Shumei Yu |
| collection | DOAJ |
| description | Inspired by rodents’ ability to navigate freely in a given space, bionavigation systems provide alternatives to traditional probabilistic solutions. This paper proposed a bionic path planning method based on RatSLAM to provide a novel viewpoint for robots to make a more flexible and intelligent navigation scheme. A neural network fusing historic episodic memory was proposed to improve the connectivity of the episodic cognitive map. It is biomimetically important to generate an episodic cognitive map and establish a one-to-one correspondence between the events generated by episodic memory and the visual template of RatSLAM. The episodic cognitive map can be improved by imitating the rodents’ behavior of memory fusion to produce better path planning results. The experimental results of different scenarios illustrate that the proposed method identified the connectivity between way points, optimized the result of path planning, and improved the flexibility of the system. |
| first_indexed | 2024-03-11T06:52:35Z |
| format | Article |
| id | doaj.art-70fb7c3f6a654ea48c2492340d42053d |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-11T06:52:35Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-70fb7c3f6a654ea48c2492340d42053d2023-11-17T09:49:42ZengMDPI AGBiomimetics2313-76732023-02-01815910.3390/biomimetics8010059Bionic Path Planning Fusing Episodic Memory Based on RatSLAMShumei Yu0Haidong Xu1Chong Wu2Xin Jiang3Rongchuan Sun4Lining Sun5School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaSchool of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, ChinaInspired by rodents’ ability to navigate freely in a given space, bionavigation systems provide alternatives to traditional probabilistic solutions. This paper proposed a bionic path planning method based on RatSLAM to provide a novel viewpoint for robots to make a more flexible and intelligent navigation scheme. A neural network fusing historic episodic memory was proposed to improve the connectivity of the episodic cognitive map. It is biomimetically important to generate an episodic cognitive map and establish a one-to-one correspondence between the events generated by episodic memory and the visual template of RatSLAM. The episodic cognitive map can be improved by imitating the rodents’ behavior of memory fusion to produce better path planning results. The experimental results of different scenarios illustrate that the proposed method identified the connectivity between way points, optimized the result of path planning, and improved the flexibility of the system.https://www.mdpi.com/2313-7673/8/1/59bionic path planningRatSLAMepisodic cognitive mapconnectivity networks |
| spellingShingle | Shumei Yu Haidong Xu Chong Wu Xin Jiang Rongchuan Sun Lining Sun Bionic Path Planning Fusing Episodic Memory Based on RatSLAM Biomimetics bionic path planning RatSLAM episodic cognitive map connectivity networks |
| title | Bionic Path Planning Fusing Episodic Memory Based on RatSLAM |
| title_full | Bionic Path Planning Fusing Episodic Memory Based on RatSLAM |
| title_fullStr | Bionic Path Planning Fusing Episodic Memory Based on RatSLAM |
| title_full_unstemmed | Bionic Path Planning Fusing Episodic Memory Based on RatSLAM |
| title_short | Bionic Path Planning Fusing Episodic Memory Based on RatSLAM |
| title_sort | bionic path planning fusing episodic memory based on ratslam |
| topic | bionic path planning RatSLAM episodic cognitive map connectivity networks |
| url | https://www.mdpi.com/2313-7673/8/1/59 |
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