Robotic Path Planning Based on Episodic Memory Fusion
2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)(2021)
摘要
Episodic memory provides a mechanism for recalling past experience, which can be used for path planning in complex environments. This paper describes a path planning method based on memory fusion that combines an episodic memory models with the potential path detection network. In traditional path planning methods based on the episodic memory model, paths were planned based on the trajectory that the mobile robot has experienced in the environment, ignoring the surrounding potential paths. Therefore, the planned path is not necessarily globally optimal. In response to this problem, we proposed a path detection network to find potential safe paths in the environment. Our experimental results demonstrated that a better path can be found by fusing the potential path into the original episodic-cognitive map from the perspective of planned path length and number of turns.
更多查看译文
关键词
episodic memory,potential path,path planning,mobile robot
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要