Cognitive Navigation for Indoor Environment Using Floorplan; Jun Li etc. ; IROS2021, page 9007-9014
Abstract:
The recent years have seen the increasing impor-
tance of cognitive models for improved robot navigation. In this
paper, a novel cognitive navigation package, which consists of
topometric map representation and a three-level path planner,
is proposed. The topometric maps are built from architectural
floor plans with additional features within a limited number of
selected regions. The inherent discrepancies between floor plans
and the robot’s actual sensory readings are handled by the
three-level path planner. The unique feature of this approach
is that accurate localization is only required at the selected
regions. At the other regions the robot will rely on the guiding
directions towards the goal rather than on its accurate position
on the map for navigation. Experiments show that our approach
can endow a robot with capability for semantic interpretation
and localization in unseen and dynamic environments.
License type:
Publisher Copyright
Funding Info:
This research / project is supported by the A*STAR, SERC - National robotics Programme (NRP)
Grant Reference no. : 192 25 00049