Robot navigation from nature: simultaneous localisation, mapping, and path planning based on hippocampal models

This book describes the development of a robot mapping and navigation system inspired by models of the neural mechanisms underlying spatial navigation in the rodent hippocampus. Computational models of animal navigation systems have traditionally had limited performance when implemented on robots. The aim of the work was to determine the extent to which hippocampal models can be used toprovide a robot with functional mapping and navigation capabilities in real world environments. The focus of the research was on achieving practical robot performance, rather than maintaining biological plausibility. ‘…one of the first serious explorations and implementations of bio-inspired navigation’ Professor Hugh F Durrant-Whyte, Australian Research Council Federation Fellow Presents pioneering work into understanding, designing, and implementing bio-inspired navigation techniques within a robotics context INDICE: Introduction.- Mapping and Navigation.- Robotic Mapping Methods.- Biological Navigation Systems.- Emulating Nature: Models of Hippocampus.- Robotic or Bio-inspired: A Comparison.- Pilot Study of a Hippocampal Model.- RatSLAM: An Extended Hippocampal Model.- Goal Memory: A Pilot Study.- Extending RatSLAM: The Experience Mapping Algorithm.- Exploration, Goal Recall, and Adapting to Change.- Discussion.

• ISBN: 978-3-540-77519-5
• Editorial: Springer
• Encuadernacion: Cartoné
• Páginas: 214
• Fecha Publicación: 01/02/2008
• Nº Volúmenes: 1
• Idioma: Inglés