Robot navigation using human cues: A robot navigation system for symbolic goal-directed exploration
Schulz, Ruth, Talbot, Ben, Lam, Obadiah, Dayoub, Feras, Corke, Peter, Upcroft, Ben, & Wyeth, Gordon (2015) Robot navigation using human cues: A robot navigation system for symbolic goal-directed exploration. In Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), IEEE, Washington State Convention Center, Seattle, WA, pp. 1100-1105.
In this paper we present for the first time a complete symbolic navigation system that performs goal-directed exploration to unfamiliar environments on a physical robot. We introduce a novel construct called the abstract map to link provided symbolic spatial information with observed symbolic information and actual places in the real world. Symbolic information is observed using a text recognition system that has been developed specifically for the application of reading door labels. In the study described in this paper, the robot was provided with a floor plan and a destination. The destination was specified by a room number, used both in the floor plan and on the door to the room. The robot autonomously navigated to the destination using its text recognition, abstract map, mapping, and path planning systems. The robot used the symbolic navigation system to determine an efficient path to the destination, and reached the goal in two different real-world environments. Simulation results show that the system reduces the time required to navigate to a goal when compared to random exploration.
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|Item Type:||Conference Paper|
|Keywords:||Planning, Navigation, Localization, Mapping|
|Divisions:||Current > Research Centres > ARC Centre of Excellence for Robotic Vision
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2015 [Please consult the author]|
|Deposited On:||24 Mar 2015 03:20|
|Last Modified:||10 Sep 2015 02:37|
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