A Goal-oriented Navigation Model based on Multi-scale Place Cells Map
Jia Du, Dewei Wu, Weilong Li, Yang Zhou · International Journal of u- and e- Service Science and Technology · 2017
To achieve spatial cognition and autonomous navigation for the robot, learning from the biological mechanism for navigation, a goal-oriented navigation model based on multi-scale place cells map is proposed.First, a place cell map with different scale is constructed for coding the space environment.Second, the Gaussian model is used to simulate the firing rate of a place cell which will be the input of the Q-learning process.Third, the annealing strategy is explored to choose a reasonable action and update the Q table.After training and learning, the robot could succeed to finish the goal-oriented navigation task.Simulation results show that, the proposed method is feasible to complete the goal-oriented navigation task.Compared with the spatial cognitive model of single scale place cells, the method not only meets the multi-scale spatial representation nature of place cells in hippocampus, but also has a faster learning speed.The achievement of this paper has a reference for the study of brain-inspired navigation.