Combining Onthologies and Behavior-based Control for Aware Navigation in Challenging Off-road Environments

Patrick Wolf, Thorsten Ropertz, Philipp Feldmann, Karsten Berns

Abstract

Autonomous navigation in off-road environments is a challenging task for mobile robots. Recent success in artificial intelligence research demonstrates the suitability and relevance of neural networks and learning approaches for image classification and off-road robotics. Nonetheless, meaningful decision making processes require semantic knowledge to enable complex scene understanding on a higher abstraction level than pure image data. A promising approach to incooperate semantic knowledge are ontologies. Especially in the off-road domain, scene object correlations heavily influence the navigation outcome and misinterpretations may lead to the loss of the robot, environmental, or even personal damage. In the past, behavior-based control systems have proven to robustly handle such uncertain environments. This paper combines both approaches to achieve a situation-aware navigation in off-road environments. Hereby, the robot’s navigation is improved using high-level off-road background knowledge in form of ontologies along with a reactive, and modular behavior network. The feasibility of the approach is demonstrated within different simulation scenarios.

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Paper Citation


in Harvard Style

Wolf P., Ropertz T., Feldmann P. and Berns K. (2019). Combining Onthologies and Behavior-based Control for Aware Navigation in Challenging Off-road Environments.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 135-146. DOI: 10.5220/0007934301350146


in Bibtex Style

@conference{icinco19,
author={Patrick Wolf and Thorsten Ropertz and Philipp Feldmann and Karsten Berns},
title={Combining Onthologies and Behavior-based Control for Aware Navigation in Challenging Off-road Environments},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={135-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007934301350146},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Combining Onthologies and Behavior-based Control for Aware Navigation in Challenging Off-road Environments
SN - 978-989-758-380-3
AU - Wolf P.
AU - Ropertz T.
AU - Feldmann P.
AU - Berns K.
PY - 2019
SP - 135
EP - 146
DO - 10.5220/0007934301350146