Neuromorphic Computing Research Center, College of Computer Science, Sichuan University, Chengdu, 610065, China.
Institute for Infocomm Research, Agency for Science Technology and Research (A*STAR), Singapore 138632, Singapore.
Neural Netw. 2017 Mar;87:27-37. doi: 10.1016/j.neunet.2016.08.015. Epub 2016 Dec 7.
Electrophysiological studies in animals may provide a great insight into developing brain-like models of spatial cognition for robots. These studies suggest that the spatial ability of animals requires proper functioning of the hippocampus and the entorhinal cortex (EC). The involvement of the hippocampus in spatial cognition has been extensively studied, both in animal as well as in theoretical studies, such as in the brain-based models by Edelman and colleagues. In this work, we extend these earlier models, with a particular focus on the spatial coding properties of the EC and how it functions as an interface between the hippocampus and the neocortex, as proposed by previous work. By realizing the cognitive memory and mapping functions of the hippocampus and the EC, respectively, we develop a neurobiologically-inspired system to enable a mobile robot to perform task-based navigation in a maze environment.
动物的电生理学研究可能为机器人开发类似大脑的空间认知模型提供重要的见解。这些研究表明，动物的空间能力需要海马体和内嗅皮层（EC）的正常功能。海马体在空间认知中的作用已经在动物和理论研究中得到了广泛研究，例如 Edelman 等人的基于大脑的模型。在这项工作中，我们扩展了这些早期模型，特别关注 EC 的空间编码特性以及它如何作为海马体和新皮层之间的接口发挥作用，这是之前工作提出的。通过分别实现海马体和 EC 的认知记忆和映射功能，我们开发了一个受神经生物学启发的系统，使移动机器人能够在迷宫环境中执行基于任务的导航。
