Navigation of mobile robot using location map of place cells and reinforcement learning

✍ Scribed by Toshio Tanaka; Kenji Nishida; Takio Kurita

• Publisher: John Wiley and Sons
• Year: 2007
• Tongue: English
• Weight: 685 KB
• Volume: 38
• Category: Article
• ISSN: 0882-1666
• DOI: 10.1002/scj.20632

✦ Synopsis

Abstract

It is known that the hippocampus of rats contains neural cells called “place cells.” Place cells are neural cells that respond selectively when the rat arrives at a particular place. This paper proposes a mobile robot navigation method that uses a place cell position map and reinforcement learning. First, the place cell position map is created by a neural gas using image data and position data from observation points. Next, routes between the place cells are established, and the path to the goal is learned using the actor– critic method, which is a type of reinforcement learning method. Numerical simulations demonstrate that the goal can be reached even if there are motion errors by moving the robot along the route. © 2007 Wiley Periodicals, Inc. Syst Comp Jpn, 38(7): 65– 75, 2007; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/scj.20632