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

Patrick Wolf, Thorsten Ropertz, Philipp Feldmann, Karsten Berns

2019

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.

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