Abstract：A dynamic self-organizing structural feature extraction method is presented based on distance sensor. The procedure consists of three parts: design of active exploration behavior, dimensionality reduction process of spatio-temporal information and self-organizing landmark extraction method. In this paper, active exploration behavior based on follow-wall is designed to obtain high correlative spatio-temporal sequence information. Activity neurons based on variety detection and activation intensity are used to reduce the dimensionality of spatio-temporal sequence. Finally, a method of 2-Dimensional growing dynamic self-organizing feature map (2-Dimensional GDSOM) is proposed to achieve self-organizing extraction and identification of environmental landmarks. The experimental results demonstrate the effectiveness of the method.
[1] Kuipers B J,Beeson P.Bootstrap Learning for Place Recognition // Proc of the 8th National Conference on Artificial Intelligence.Edmonton,USA,2002: 174-180 [2] Trullier O,Meyer J A.Animat Navigation Using a Cognitive Graph.Biological Cybernetics,2000,83(3): 271-285 [3] Mataric M J.Integration of Representation into Goal-Driven Behavior-Based Robots.IEEE Trans on Robotics and Autonomous,1992,8(3): 304-312 [4] Arleo A,Gerstner W.Spatial Cognition and Neuro-Mimetic Navigation: A Model of Hippocampal Place-Cell Activity.Biological Cybernetics,2000,83(3): 287-299 [5] Weng Juyang,Zhang Yilu,Hwang W S.Candid Covariance-Free Incremental Principal Component Analysis.IEEE Trans on Pattern Analysis and Machine Intelligence,2003,25(8): 1034-1040 [6] Gaussier P,Joulain C,Banquet J P,et al.The Visual Homing Problem: An Example of Robotics/Biology Cross-Fertilisation.Robotics and Autonomous Systems,2000,30(1/2): 155-180 [7] Liu Juan.Research on Mobile Robot Navigation Strategy Based on Spatio-Temporal Information and Cognitive Map.Ph.D Dissertation.Changsha,China: Central South University,2003 (in Chinese) (刘 娟.基于时空信息与认知模型的移动机器人导航机制研究.博士学位论文.长沙:中南大学,2003) [8] Ballard D H,Hayhoe M M.Modeling the Role of Task in the Control of Gaze.Visual Cognition,2009,17(6/7): 1185-1204 [9] Pfeifer R.Robot as Cognitive Tools.International Journal of Cognition and Technology,2002,1(1): 125-143 [10] Chen Dongyue,Zhang Liming,Weng Juyang.Spatio-Temproal Adaptation in the Unsupervised Development of Networked Visual Neurons.IEEE Trans on Neural Networks,2009,20(6): 992-1008 [11] Wang Zuowei.Research on Behavior Learning Methods for Intelligent Robot with Cognitive Ability.Ph.D Dissertation.Harbin,China: Harbin Engineering University,2010 (in Chinese) (王作为.具有认知能力的智能机器人行为学习方法研究.博士学位论文.哈尔滨:哈尔滨工程大学,2010)
2012, Vol. 25 
