A Navigation Path Search and Optimization Method for Mobile Robots Based on the Rat Brain’s Cognitive Mechanism

Author:

Liao Yishen123,Yu Naigong123,Yan Jinhan123

Affiliation:

1. Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China

2. Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China

3. Engineering Research Center of Digital Community, Ministry of Education, Beijing 100124, China

Abstract

Rats possess exceptional navigational abilities, allowing them to adaptively adjust their navigation paths based on the environmental structure. This remarkable ability is attributed to the interactions and regulatory mechanisms among various spatial cells within the rat’s brain. Based on these, this paper proposes a navigation path search and optimization method for mobile robots based on the rat brain’s cognitive mechanism. The aim is to enhance the navigation efficiency of mobile robots. The mechanism of this method is based on developing a navigation habit. Firstly, the robot explores the environment to search for the navigation goal. Then, with the assistance of boundary vector cells, the greedy strategy is used to guide the robot in generating a locally optimal path. Once the navigation path is generated, a dynamic self-organizing model based on the hippocampal CA1 place cells is constructed to further optimize the navigation path. To validate the effectiveness of the method, this paper designs several 2D simulation experiments and 3D robot simulation experiments, and compares the proposed method with various algorithms. The experimental results demonstrate that the proposed method not only surpasses other algorithms in terms of path planning efficiency but also yields the shortest navigation path. Moreover, the method exhibits good adaptability to dynamic navigation tasks.

Funder

National Natural Science Foundation of China

Beijing Municipal Education Commission and Municipal Natural Science Foundation

Natural Science Foundation of Beijing

Publisher

MDPI AG

Subject

Molecular Medicine,Biomedical Engineering,Biochemistry,Biomaterials,Bioengineering,Biotechnology

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