基于哺乳动物空间认知机制的机器人导航综述  

A Survey on Robot Navigation Based on Mammalian Spatial Cognition

作　　者：孟志林 赵冬晔 斯白露 戴士杰[1] MENG Zhilin;ZHAO Dongye;SI Bailu;DAI Shijie(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;Information Science Academy,China Electronics Technology Group Corporation,Beijing 100041,China;School of Systems Science,Beijing Normal University,Beijing 100875,China)

机构地区：[1]河北工业大学机械工程学院,天津300401 [2]中国电子科技集团公司信息科学研究院,北京100401 [3]北京师范大学系统科学学院,北京100875

出　　处：《机器人》2023年第4期496-512,共17页Robot

基　　金：科技创新2030(2022ZD0205005).

摘　　要：哺乳动物大脑的海马结构和内嗅皮层是产生空间认知的关键脑区,使动物具有在陌生环境中自主导航的能力。随着对自主智能导航系统的需求日益增长,发展受脑启发的机器人导航技术迫在眉睫。本文综述了哺乳动物空间认知的神经生理学机制,并在此基础上介绍了空间认知的计算模型及其在类脑机器人导航系统中的应用,最后讨论了类脑导航技术当前面临的问题及相关热点研究方向。Hippocampus and entorhinal cortex of mammalian brains are key brain regions involved in spatial cognition,enabling animals to autonomously navigate in unknown environments.With the increasing demand on autonomous and intelligent navigation systems,it is extremely urgent to develop brain-inspired robot navigation technologies.In this paper,the neurophysiological mechanisms of spatial cognition of mammals are reviewed,and computational models of spatial cognition and their applications to brain-like robot navigation systems are introduced.Finally,the challenges and future research directions of brain-like navigation technology are discussed.

关 键 词：自主导航 类脑导航 空间认知 海马体 内嗅皮层 

分 类 号：TN966[电子电信—信号与信息处理]