A Cognitive Approach to Mobile Robot Environment Mapping and Path Planning
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Authors
Zeno, Peter
Issue Date
2017-07-07
Type
Thesis
Language
en_US
Keywords
Robotics , Neurosciences , Cognitive map , Hippocampus , Spatial awareness , Navigation , Mobile robot
Alternative Title
Abstract
This thesis presents a novel neurophysiological based navigation system which uses less memory and power than other neurophysiological based systems, as well as traditional navigation systems performing similar tasks. This is accomplished by emulating the rodent’s specialized navigation and spatial awareness brain cells, as found in and around the hippocampus and entorhinal cortex, at a higher level of abstraction than previously used neural representations. Specifically, the focus of this research will be on replicating place cells, boundary cells, head direction cells, and grid cells using data structures and logic driven by each cell’s interpreted behavior. This method is used along with a unique multimodal source model for place cell activation to create a cognitive map. Path planning is performed by using a combination of Euclidean distance path checking, goal memory, and the A* algorithm. Localization is accomplished using simple, low power sensors, such as a camera, ultrasonic sensors, motor encoders and a gyroscope. The place code data structures are initialized as the mobile robot finds goal locations and other unique locations, and are then linked as paths between goal locations, as goals are found during exploration. The place code creates a hybrid cognitive map of metric and topological data. In doing so, much less memory is needed to represent the robot’s roaming environment, as compared to traditional mapping methods, such as occupancy grids. A comparison of the memory and processing savings are presented, as well as to the functional similarities of our design to the rodent’ specialized navigation cells.
Description
Citation
P. Zeno, "A Cognitive Approach to Mobile Robot Environment Mapping and Path Planning", Ph.D. dissertation, Dept. of Computer Science and Engineering, Univ. of Bridgeport, Bridgeport, CT, 2017.