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论文类型：期刊论文

发表时间：2020-10-01

发表刊物：IEEE ROBOTICS AND AUTOMATION LETTERS

收录刊物：SCIE

卷号：5

期号：4

页面范围：5573-5580

ISSN号：2377-3766

关键字：Biomimetics; cognitive robotics; mobile robot; simultaneous localization and mapping

摘要：This letter presents a robotic episodic cognitive learning framework based on the biological cognitive mechanism of hippocampal spatial cells. By emphasizing the cognition process and episodic memory in brain, the framework adopts the velocity modulated grid cells and place cells to afford the robot position cognition, abstracts the state neurons to represent the robotic state, and uses state neurons' activity and connection to simulate the episodic memory construction process. The episodic memory is formed by a sequence of particular events consisting of visual features, state neuron, phase, and pose information. Besides an episodic-cognitive map building approach based on this framework is proposed, which performs closed-loop correction by resetting the spatial cells phase to keep the map accurate. The episodic-cognitive map built in this letter is a topological metric map to describe the topological relations of the particular events coordinates in the unknown environment. The framework is applied on a mobile robot platform, the robotic episodic cognitive learning and episodic-cognitive map building approach are investigated. The robotic experiments demonstrate that the framework can effectively achieve the robotic incremental accumulative learning, update the spatial cognition to the environment and construct the episodic-cognitive map.