Journal
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
Volume 33, Issue 5, Pages 2147-2158Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TNNLS.2021.3128380
Keywords
Neurons; Biological system modeling; Computer architecture; Microprocessors; Navigation; Computational modeling; Turning; Autonomous driving; cognitive navigation; continuous attractor network (CAN); head direction cells (HDCs); neural simultaneous localization and mapping (SLAM)
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Funding
- European Union's Horizon 2020 Framework Programme for Research and Innovation (Human Brain Project SGA3) [945539]
- Shenzhen Basic Research Grant [JCYJ20180507182508857]
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In this article, a computational HDC network consistent with neurophysiological findings concerning biological HDCs is proposed and implemented in robotic navigation tasks. The network represents the directional heading relying solely on angular velocity input and demonstrates excellent performance in accuracy and real-time capability through extensive simulations and real-world experiments.
As a vital cognitive function of animals, the navigation skill is first built on the accurate perception of the directional heading in the environment. Head direction cells (HDCs), found in the limbic system of animals, are proven to play an important role in identifying the directional heading allocentrically in the horizontal plane, independent of the animal's location and the ambient conditions of the environment. However, practical HDC models that can be implemented in robotic applications are rarely investigated, especially those that are biologically plausible and yet applicable to the real world. In this article, we propose a computational HDC network that is consistent with several neurophysiological findings concerning biological HDCs and then implement it in robotic navigation tasks. The HDC network keeps a representation of the directional heading only relying on the angular velocity as an input. We examine the proposed HDC model in extensive simulations and real-world experiments and demonstrate its excellent performance in terms of accuracy and real-time capability.
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