arXiv 2603.267532026-03-23cs.RO

语义导航中的推理系统

Reasoning Systems for Semantic Navigation in Mobile Robots

University of Carlos III of Madrid（卡洛斯三世大学）；Technical University of Cartagena（卡塔赫纳理工大学）；Institute of Artificial Intelligent at the University of Bremen（不来梅大学人工智能研究所）

Jonathan Crespo, Ramón Barber, O. M. Mozos, Daniel Beßler, Michael Beetz

备注：: This is the authors' manuscript. The final published article is available at https://doi.org/10.1109/IROS.2018.8594271
发表信息：: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 5654-5659
DOI：: 10.1109/IROS.2018.8594271

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AI总结：

本文提出两种基于本体模型的语义导航系统，分别采用关系数据库和KnowRob实现环境建模，并在移动机器人上进行验证。

摘要：

语义导航是一种考虑环境语义概念及其关系来规划移动机器人路径的导航范式。该范式有助于与人类交互并理解人类环境的导航目标和任务。在高层，语义导航系统需要两个主要组件：环境的语义表示和推理系统。本文聚焦于开发使用语义概念的环境模型。本文提出了两种语义导航范式的解决方案。两个系统均实现本体模型。第一个系统使用关系数据库，第二个系统基于KnowRob。两个系统均被集成到语义导航器中。我们从定性和定量层面比较了两种系统，并在移动机器人上实现了一个证明概念的实现。

英文摘要：

Semantic navigation is the navigation paradigm in which environmental semantic concepts and their relationships are taken into account to plan the route of a mobile robot. This paradigm facilitates the interaction with humans and the understanding of human environments in terms of navigation goals and tasks. At the high level, a semantic navigation system requires two main components: a semantic representation of the environment, and a reasoner system. This paper is focused on develop a model of the environment using semantic concepts. This paper presents two solutions for the semantic navigation paradigm. Both systems implement an ontological model. Whilst the first one uses a relational database, the second one is based on KnowRob. Both systems have been integrated in a semantic navigator. We compare both systems at the qualitative and quantitative levels, and present an implementation on a mobile robot as a proof of concept.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。