To derive meaningful navigation strategies,animals have to estimate their directional headings in the environment.Accordingly,this function is achieved by the head direction cells that were found in mammalian brains,w...To derive meaningful navigation strategies,animals have to estimate their directional headings in the environment.Accordingly,this function is achieved by the head direction cells that were found in mammalian brains,whose neural activities encode one’s heading direction.It is believed that such head direction information is generated by integrating self-motion cues,which also introduces accumulative errors in the long term.To eliminate such errors,this paper presents an efficient calibration model that mimics the animals’behavior by exploiting visual cues in a biologically plausible way,and then implements it in robotic navigation tasks.The proposed calibration model allows the agent to associate its head direction and the perceived egocentric direction of a visual cue with its position and orientation,and therefore to calibrate the head direction when the same cue is viewed again.We examine the proposed head direction calibration model in extensive simulations and real-world experiments and demonstrate its excellent performance in terms of quick association of information to proximal or distal cues as well as accuracy of calibrating the integration errors of the head direction.Videos can be viewed at https://videoviewsite.wixsite.com/hdc-calibration.展开更多
Some neurons in the brain of freely moving rodents show special firing pattern. The firing of head direction cells(HDCs) and grid cells(GCs) is related to the moving direction and distance, respectively. Thus, it is c...Some neurons in the brain of freely moving rodents show special firing pattern. The firing of head direction cells(HDCs) and grid cells(GCs) is related to the moving direction and distance, respectively. Thus, it is considered that these cells play an important role in the rodents' path integration. To provide a bionic approach for the vehicle to achieve path integration, we present a biologically inspired model of path integration based on the firing characteristics of HDCs and GCs. The detailed implementation process of this model is discussed. Besides, the proposed model is realized by simulation, and the path integration performance is analyzed under different conditions. Simulations validate that the proposed model is effective and stable.展开更多
基金funding from the European Union’s Horizon 2020 Framework Programme for Research and Innovation under the Specific Grant Agreement No.945539(Human Brain Project SGA3)also funded by Pazhou Lab PZL2021KF0020.
文摘To derive meaningful navigation strategies,animals have to estimate their directional headings in the environment.Accordingly,this function is achieved by the head direction cells that were found in mammalian brains,whose neural activities encode one’s heading direction.It is believed that such head direction information is generated by integrating self-motion cues,which also introduces accumulative errors in the long term.To eliminate such errors,this paper presents an efficient calibration model that mimics the animals’behavior by exploiting visual cues in a biologically plausible way,and then implements it in robotic navigation tasks.The proposed calibration model allows the agent to associate its head direction and the perceived egocentric direction of a visual cue with its position and orientation,and therefore to calibrate the head direction when the same cue is viewed again.We examine the proposed head direction calibration model in extensive simulations and real-world experiments and demonstrate its excellent performance in terms of quick association of information to proximal or distal cues as well as accuracy of calibrating the integration errors of the head direction.Videos can be viewed at https://videoviewsite.wixsite.com/hdc-calibration.
基金Project supported by the National Natural Science Foundation of China(No.61273048)
文摘Some neurons in the brain of freely moving rodents show special firing pattern. The firing of head direction cells(HDCs) and grid cells(GCs) is related to the moving direction and distance, respectively. Thus, it is considered that these cells play an important role in the rodents' path integration. To provide a bionic approach for the vehicle to achieve path integration, we present a biologically inspired model of path integration based on the firing characteristics of HDCs and GCs. The detailed implementation process of this model is discussed. Besides, the proposed model is realized by simulation, and the path integration performance is analyzed under different conditions. Simulations validate that the proposed model is effective and stable.
