Biological inspired system for Localization and Mapping in underwater environments

摘要

One of the most important challenge in robotic is teach a robot how to locate itself in one unknown environment. Nowadays, the most applied solution to this problem relies in Probabilistic Filters. Lead by the discovery of neurons in the mammalian brain associated with navigation tasks, this paper presents a bio inspired system to solve the problem in three-dimensional environments, such as underwater scenarios. Preliminaries results in simulated environments shows the relevance of the proposed method, which is highly parallelizable and capable of running in real time applications.