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Towards Semantic Navigation in Mobile Robotics

  • Chapter
Graph Transformations and Model-Driven Engineering

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 5765))

Abstract

Nowadays mobile robots find application in many areas of production, public transport, security and defense, exploration of space, etc. In order to make further progress in this domain of engineering, a significant barrier has to be broken: robots must be able to understand the meaning of surrounding world. Until now, mobile robots have only perceived geometrical features of the environment. Rapid progress in sensory devices (video cameras, laser range finders, microwave radars) and sufficient computational power available on-board makes it possible to develop robot controllers that possess certain knowledge about the area of application and which are able to reason at a semantic level.

The first part of the paper deals with mobile robots dedicated to operate inside buildings. A concept of the semantic navigation based upon hypergraphs is introduced. Then it is shown how semantic information, useful for mobile robots, can be extracted from the digital documentation of a building.

In the second part of the paper we report the latest results on extracting semantic features from the raw data supplied by laser scanners. The aim of this research is to develop a system that will enable a mobile robot to operate in a building with ability to recognise and identify objects of certain classes. Data processing techniques involved in this system include a 3D-model of the environment updated on-line, rule-based and feature-based classifiers of objects, a path planner utilizing cellular networks and other advanced tools. Experiments carried out under real-life conditions validate the proposed solutions.

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Author information

Authors and Affiliations

  1. Institute of Fundamental Technological Research, Polish Academy of Sciences, Pawinskiego 5b, PL-02-106, Warsaw, Poland

    Adam Borkowski, Barbara Siemiatkowska & Jacek Szklarski

Authors
  1. Adam Borkowski
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  2. Barbara Siemiatkowska
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  3. Jacek Szklarski
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Editor information

Editors and Affiliations

  1. Fakultät für Elektrotechnik, Informatik und Mathematik, University of Paderborn, Institut für Informatik Warburger Str. 100, 33098, Paderborn, Germany

    Gregor Engels

  2. Software Systems Engineering Research Group, Brandenburg Technical University at Cottbus, Konrad-Wachsmann-Allee 1, 03046, Cottbus, Germany

    Claus Lewerentz

  3. Department of Mathematics and Computer Science, University of Paderborn, Warburger Str. 100, 33098, Paderborn, Germany

    Wilhelm Schäfer

  4. Fachgebiet Echtzeitsysteme, Technische Universität Darmstadt, Merckstraße 25, 64283, Darmstadt, Germany

    Andy Schürr

  5. Angewandte Informatik I, University of Bayreuth, Universitätsstr. 30, 95447, Bayreuth, Germany

    Bernhard Westfechtel

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Borkowski, A., Siemiatkowska, B., Szklarski, J. (2010). Towards Semantic Navigation in Mobile Robotics. In: Engels, G., Lewerentz, C., Schäfer, W., Schürr, A., Westfechtel, B. (eds) Graph Transformations and Model-Driven Engineering. Lecture Notes in Computer Science, vol 5765. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17322-6_30

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  • DOI: https://doi.org/10.1007/978-3-642-17322-6_30

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17321-9

  • Online ISBN: 978-3-642-17322-6

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