A bio-inspired method of autonomous positioning using spatial association based on place cells firing

摘要

In order to realize intelligent and autonomous navigation, a bio-inspired method of autonomous positioning using spatial association based on place cells firing is proposed. First, a vision sensor is used to get the landmarks in the environment and the distances between the agent and the different landmarks so as to construct an internal map of place cells. Then, we build a relationship between the distances and the activities of place cells using a radial basis function neural network, and further achieve the memory and association of spatial locations by comparing the activities of all place cells. Finally, we also provide a detailed analysis on the feasibility of this method for autonomous positioning and how the involved parameters in the model have an influence on the performance of positioning. The result of simulation shows that the method presented is effective and feasible for autonomous positioning.