Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs
Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs
复制标题
基于粗略定性路线描述到路线图映射的机器人导航
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
T. Röfer
中科院分区：
文献类型：
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作者：
C. Mandel;U. Frese;T. Röfer
介绍了自然语言路径描述在移动机器人导航领域的应用。在语料库分析和前人对粗定性路径描述的研究的指导下，我们将人类发出的指令分解成不精确的路径段描述序列。通过对所涉及的空间关系和行为应用模糊规则，我们构造了一棵搜索树，该树可以以深度优先的分枝定界的方式搜索最可能的目标配置w.r.t.机器人的全局工作空间知识。我们的方法的适用性通过一个真实世界的实验来展示，其中操作员指示他的自动轮椅在类似办公室的环境中导航
This paper describes the use of natural language route descriptions in the mobile robot navigation domain. Guided by corpus analysis and earlier work on coarse qualitative route descriptions, we decompose instructions given by humans into sequences of imprecise route segment descriptions. By applying fuzzy rules for the involved spatial relations and actions, we construct a search tree that can be searched in a depth-first branch-and-bound manner for the most probable goal configuration w.r.t. the global workspace knowledge of the robot. The applicability of our approach is shown by a real-world experiment where an operator instructs his automated wheelchair to navigate in an office-like environment