A Spatial Location Representation Method Incorporating Boundary Information

نویسندگان

چکیده

In response to problems concerning the low autonomous localization accuracy of mobile robots in unknown environments and large cumulative errors due long time running, a spatial location representation method incorporating boundary information (SLRB) is proposed, inspired by mammalian cognitive mechanism. modeling firing characteristics cells environmental information, we construct vector relationships between robot boundaries with direction-aware distance-aware information. The self-motion (direction velocity) used as input lateral anti-Hebbian network (LAHN) generate grid cells. addition, cell values are update distribution law suppress error place cells, thus reducing robot. Meanwhile, when reaches excitation zone, activated correct accumulated that occur running times, which improves system. main contributions this paper follows: 1. We propose novel for constructing models. 2. An approach presented maps layer LAHN (Location-Adaptive Hierarchical Network), where generated through learning rules, pattern adjusted using 3. caused long-term operation activation ensuring only one responds current at each individual moment, thereby improving positioning

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ژورنال

عنوان ژورنال: Applied sciences

سال: 2023

ISSN: ['2076-3417']

DOI: https://doi.org/10.3390/app13137929