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基于空间探索和认知图构建的生物启发式目标导向导航模型

周阳 吴德伟 宋毅 代传金

周阳, 吴德伟, 宋毅, 代传金. 基于空间探索和认知图构建的生物启发式目标导向导航模型[J]. 电子与信息学报, 2023, 45(5): 1817-1823. doi: 10.11999/JEIT220578
引用本文: 周阳, 吴德伟, 宋毅, 代传金. 基于空间探索和认知图构建的生物启发式目标导向导航模型[J]. 电子与信息学报, 2023, 45(5): 1817-1823. doi: 10.11999/JEIT220578
ZHOU Yang, WU Dewei, SONG Yi, DAI Chuanjin. Biological Inspired Goal-oriented Navigation Model Based on Spatial Exploration and Construction of Cognitive Map[J]. Journal of Electronics & Information Technology, 2023, 45(5): 1817-1823. doi: 10.11999/JEIT220578
Citation: ZHOU Yang, WU Dewei, SONG Yi, DAI Chuanjin. Biological Inspired Goal-oriented Navigation Model Based on Spatial Exploration and Construction of Cognitive Map[J]. Journal of Electronics & Information Technology, 2023, 45(5): 1817-1823. doi: 10.11999/JEIT220578

基于空间探索和认知图构建的生物启发式目标导向导航模型

doi: 10.11999/JEIT220578
基金项目: 国家自然科学基金(61973314)
详细信息
    作者简介:

    周阳:男,博士,工程师,研究方向为运行体智能自主导航、类脑导航等

    吴德伟:男,博士,教授,研究方向为智能导航、量子导航等

    宋毅:男,硕士,助理工程师,研究方向为信息系统与决策支持系统

    代传金:男,博士,副教授,研究方向为类脑导航

    通讯作者:

    周阳 yydayl@sina.cn

  • 中图分类号: TN967; TP273

Biological Inspired Goal-oriented Navigation Model Based on Spatial Exploration and Construction of Cognitive Map

Funds: The National Natural Science Foundation of China (61973314)
  • 摘要: 为实现智能自主运行体面向目标的导航知识生成及运行控制,该文研究了一种基于空间探索和认知图构建的生物启发式目标导向(GO)导航模型,该模型由空间探索、认知图构建和GO导航控制3个部分组成。在空间探索中,将网格细胞(GCs)到位置细胞(PCs)模型和视觉位置细胞生成模型融合后生成的位置细胞表征当前状态,利用Q学习算法实现状态-动作的建立及更新,以此学习面向目标运行的导航知识;然后,在认知图构建中,利用重心估计原理对空间探索得到的知识进行处理,生成各位置细胞状态下面向目标的方向信息;最后,运行体在朝目标的运行中,根据得到的认知图实时控制运行方向,以此实现GO导航。仿真结果表明,该GO模型有效,运行体进行充分的空间探索可生成认知图,并以此实现GO导航,且在运行过程中能有效规避障碍物。
  • 图  1  生物启发式GO导航模型

    图  2  空间探索次数为5次时生成的HPCs

    图  3  不同空间探索次数下构建的认知图及从起始位置出发时的目标导向导航情况

    图  4  从不同位置出发时的目标导向导航情况

    图  5  存在障碍物时构建的认知图及从起始位置出发时目标导向导航情况

    表  1  仿真中部分参数

    参数数值
    学习率($ \beta $)0.8
    折扣因子($ \gamma $)0.6
    贪婪因子($ \varepsilon $)0.75
    动作细胞数量(NAC)8
    下载: 导出CSV
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出版历程
  • 收稿日期:  2022-05-10
  • 修回日期:  2022-08-21
  • 网络出版日期:  2022-08-30
  • 刊出日期:  2023-05-10

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