Concentric spatial maps for neural network based navigation

摘要

A model for navigation based on artificial neural networks is proposed and tested for the task of planning and reaching a goal location in a continuous, dynamic environment. The model is based on the concept of concentric spatial maps, which is acognitive representation of the surrounding environment in the central nervous system. With the maps by a specialized neural network architecture, initial results demonstrate the system's ability to reach the goal by continuously fusing sensory inputsfrom the environment with the cognitive maps in memory to dynamically plan a path to the goal.