定位系统细胞启发的机器人情景认知地图构建与行为规划研究

项目名称： 定位系统细胞启发的机器人情景认知地图构建与行为规划研究

项目编号： No.61503057

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 刘冬

作者单位： 大连理工大学

项目金额： 19万元

中文摘要： 人类通过情景记忆回忆过去经验，基于事件再配置产生行为解决方案的认知过程具有值得学习的先进理论。情景记忆相关的位置细胞和网格细胞为揭示大脑在认知过程中如何定位与路径搜寻开启了新途径。本项目创新提出基于定位系统细胞启发研究机器人情景记忆，在认知层面上提高机器人对复杂环境和任务的适应性。提出一种空间情景数学模型表述时空中机器人经历的情景事件，基于网格细胞的路径整合特性与位置细胞的认知地图特性，构建情景认知地图，形成机器人情景经验在拓扑空间与几何空间上的综合表述。面向不确定环境下非特定任务，研究基于空间情景记忆的机器人认知行为控制策略，揭示情景记忆对机器人行为控制的影响机理，使机器人在较高的认知水平上实现行为序列规划、预测与推理。项目以情景记忆相关定位系统细胞角度对机器人广义环境建模、空间认知地图构建及实时认知行为产生等科学问题提出新思想和方法，为基于时空记忆研究机器人认知行为提供理论与技术支撑。

中文关键词： 情景记忆；移动机器人；定位系统细胞；情景认知地图；认知行为规划

英文摘要： Advanced theories can be learned from human cognitive process of recalling the past experiences through episodic memory and producing behavior solutions based on event reconfiguration. The place cell and grid cell related to episodic memory create a new way to reveal the method of localization and path searching in cognitive process. This project proposes the novel research of robot episodic memory inspired by positioning system cells, in order to improve the robotic adaptability to complex environments and tasks on the cognitive level. A spatial episodic mathematic model is set up to express the episodic events that robot experienced in space-time environments. Based on the path integration characteristics of grid cells and the map cognition characteristics of place cells, the episodic cognitive map is established to form the comprehensive statement of robotic episodic experiences in topological space and geometric space. For non-specific tasks under uncertain environment, the robotic cognitive behavior control strategy based on spatial episodic memory is studied to reveal the influence mechanism between episodic memory and robotic behavior control. So that the robot can realize the behavior planning, prediction and reasoning at a higher level of cognition. By utilizing the positioning system cells related to episodic memory, the new ideas and approaches for the scientific problems such as robotic general environment modeling, spatial cognitive mapping and real-time cognitive behavior generating, etc. are produced to provide theoretical and technical support for the research of robotic cognitive behavior based on temporal and spatial memory.

英文关键词： Episodic memory;mobile robot;positioning system cells;episodic cognitive map;cognitive behavior planning