A rat hippocampal space cell-based method for constructing a navigation map using a robot. According to an information transmission circuit of space navigation-related cells in a mammalian hippocampal structure, a robot explores the environment to obtain current self-motion cues and color and depth image information; path integration and feature extraction are performed on the self-motion cues by means of space cells in the hippocampal structure, so as to gradually form codes of the space environment; and place fields of place cells are gradually formed during exploration, and cover the whole space environment to form a cognitive map; meanwhile, Kinect acquires color and depth image information of a view scene directly in front of the current place as an absolute reference, to perform closed-loop detection on the path, and correct an error of path integration. At the loop closure point, a system resets discharge actions of the space cells, and corrects the error of path integration. Nodes on the final navigation map comprise coding information of place cell groups, corresponding visual cues, and a place topological relation.
RAT HIPPOCAMPAL SPACE CELL-BASED METHOD FOR CONSTRUCTING NAVIGATION MAP USING ROBOT