Authors:
Patrick Wolf
;
Thorsten Ropertz
;
Philipp Feldmann
and
Karsten Berns
Affiliation:
Robotics Research Lab, Dep. of Computer Science, TU Kaiserslautern, Kaiserslautern and Germany
Keyword(s):
Off-road Robotics, Ontology, Behavior-based Control, Navigation, Simulation.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Perception and Awareness
;
Robotics and Automation
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 k
nowledge 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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