Robotic cognitive map building based on biology-inspired memory
This paper describes a cognitive map building system based on episodic memory for mobile robots. Inspired by the biological findings on the mammalian hippocampus, we proposed a novel method of episodic memory modeling which including a sequence of experienced observations, neutral states, behaviors and pose perceptions. The presented method can autonomously and incrementally learn the environmental experiences to construct cognitive map and realize the accumulation, integration and updating of experiences. Based on the memory model, we applied a new approach to the problem of Simultaneous Localization and Map (SLAM), inspired by computational models of hippocampus of rodents, we built the cognitive map inspired by biological memory in an office. Experimental results show that the system can work very well.