[1]CHEN Mengyuan.Overview of mobile robot bionic slam based on navigation mechanism of mouse brain cells[J].CAAI Transactions on Intelligent Systems,2018,13(1):107-117.[doi:10.11992/tis.201707003]
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Overview of mobile robot bionic slam based on navigation mechanism of mouse brain cells

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 1 Page number: 107-117 Column: 综述 Public date: 2018-01-24
Title:
Overview of mobile robot bionic slam based on navigation mechanism of mouse brain cells
Author(s):
CHEN Mengyuan1; 2
1. Anhui Key Laboratory of Electric Drive and Control, Anhui Polytechnic University, Wuhu 241000, China;
2. Dept Precis Machinery and Precis Instrumentat, University of Science and Technology of China, Hefei 230027, China
Keywords:
mobile robot; simultaneous localization and mapping; rodents; brain cells; closed loop detection; keyframe matching
CLC:
TP242.6;TP751
DOI:
10.11992/tis.201707003
Abstract:
Aiming at the probabilistic algorithms that have shortcomings such as large computation, high complexity, and failure to find the global optimum, a variety of cells, including border cells, view cells, grid cells and speed cells, are applied to simultaneous localization and mapping (SLAM) in order to construct a BVGSP-SLAM model with multi-celled navigation. A loop closure detection algorithm with keyframe matching is added to SLAM to avoid lighting that changes based on the direction and angle of the light. Speed cells and border cells are added to SLAM to avoid the influence of mobile obstructions. A mathematical model of mixed cells that analyzes robustness and real-time performance of the system is proposed. This project will develop an integrated approach for modeling, simulation and experimental verification, which provide an important theoretical reference on SLAM.
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