Localisation and navigation : applying biological principles in mobile robotics

TL;DRAbstract

Recently, there has been a significant effort to apply behavioural and anatomical studies ofhippocampal place learning in rodents and other animals to the problem of robot localisation and mapping. The stated purpose of these recent experiments is twofold. Firstly, it is hoped that a study of this material will lead to improved algorithms for mobile robotics. Secondly, the behaviour of these new algorithms may be studied to evaluate psychological theories, and aid in the development of new theories. This thesis builds on these experiments by developing a complete localisation and navigational system for a simulated mobile robot. In order to provide a complete and efficient system, several new algorithms were developed. Firstly, a method for preprocessing input was required, thus the adaptive response function neuron (ARFN) was developed. This neuronal model is able to identify similar input patterns, while discriminating between conceptually different sensory experiences. ARFNs learn a

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