Abstract
Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Deeken, H., Wiemann, T., Lingemann, K., Hertzberg, J.: SEMAP - a semantic environment mapping framework. In: 2015 European Conference on Mobile Robots (ECMR), pp. 1–6. IEEE, September 2015. https://doi.org/10.1109/ECMR.2015.7324176. http://ieeexplore.ieee.org/document/7324176/
Kaelbling, L.P., Lozano-Pérez, T.: Hierarchical task and motion planning in the now. In: Proceedings - IEEE International Conference on Robotics and Automation, pp. 1470–1477 (2011). https://doi.org/10.1109/ICRA.2011.5980391
Karaman, S., Frazzoli, E.: Sampling-Based Algorithms for Optimal Motion Planning, May 2011. http://arxiv.org/abs/1105.1186
LaValle, S.M.: Rapidly-exploring random trees: a new tool for path planning. Technical report (1998). http://msl.cs.uiuc.edu/~lavalle/papers/Lav98c.pdf
Li, R., Gu, D., Liu, Q., Long, Z., Hu, H.: Semantic scene mapping with spatio-temporal deep neural network for robotic applications. Cognitive Comput. 10(2), 260–271 (2018). https://doi.org/10.1007/s12559-017-9526-9
Martinez-Martin, E., del Pobil, A.P.: Personal robot assistants for elderly care: an overview. In: Costa, A., Julian, V., Novais, P. (eds.) Personal Assistants: Emerging Computational Technologies. ISRL, vol. 132, pp. 77–91. Springer, Cham (2018). https://doi.org/10.1007/978-3-319-62530-0_5
Sun, N., Yang, E., Corney, J., Y.C., Ma, Z.: Semantic enhanced navigation among movable obstacles in the home environment. In: Embedded Intelligence: Enabling & Supporting RAS Technologies, pp. 68–71 (2019). https://www.ukras.org/wp-content/uploads/2019/03/UKRAS19-Proceedings-Final.pdf
Petr Masek, M.R.: A task planner for autonomous mobile robot based on semantic network in advances. Adv. Intell. Syst. Comput. 393, 634–639 (2016)
Stilman, M., Kuffner, J.J.: Navigation among movable obstacles: real-time reasoning in complex environments. Technical report. https://smartech.gatech.edu/bitstream/handle/1853/36417/stilman-ijhr2005.pdf
Strömbergsson, S., Hjalmarsson, A., Edlund, J., House, D.: Timing responses to questions in dialogue. In: Proceedings of the Annual Conference of the International Speech Communication Association, INTERSPEECH, pp. 2584–2588 (2013)
Sun, H., Meng, Z., Ang, M.H.: Semantic mapping and semantics-boosted navigation with path creation on a mobile robot. In: 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), pp. 207–212. IEEE, November 2017. https://doi.org/10.1109/ICCIS.2017.8274775. http://ieeexplore.ieee.org/document/8274775/
Tenorth, M., Kunze, L., Jain, D., Beetz, M.: KNOWROB-MAP - knowledge-linked semantic object maps. In: 2010 10th IEEE-RAS International Conference on Humanoid Robots, pp. 430–435. IEEE, December 2010. https://doi.org/10.1109/ICHR.2010.5686350. http://ieeexplore.ieee.org/document/5686350/
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Sun, N., Yang, E., Corney, J., Chen, Y. (2019). Semantic Path Planning for Indoor Navigation and Household Tasks. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11650. Springer, Cham. https://doi.org/10.1007/978-3-030-25332-5_17
Download citation
DOI: https://doi.org/10.1007/978-3-030-25332-5_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-25331-8
Online ISBN: 978-3-030-25332-5
eBook Packages: Computer ScienceComputer Science (R0)