TY - GEN
T1 - Topometric Navigation Considering Movable Objects
AU - Mochizuki, Shunsuke
AU - Yorozu, Ayanori
AU - Takahashi, Masaki
N1 - Funding Information:
Acknowledgments. This work was supported by Core Research for Evolutional Science and Technology (CREST) of the Japan Science and Technology Agency (JST) [grant number JPMJCR19A1].
Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - Recently, the demand for mobile manipulator-type human support robots has been increasing. Human support robots recognize the surrounding environment using a previously generated environmental map and perform navigation, such as localization and path planning. Conventional environment maps do not consider characteristics of objects and do not have any option to move an object to clear a path making it difficult for robots to move efficiently when an object is placed on their path. In this study, we propose topological navigation that uses a topological map based on sensing information and representing a path that robots can pass, and a metric map based on geometrical information of objects and representing the presence of objects. Consequently, if necessary, it is possible for robots to move a movable object to clear the passage and realize efficient movement in living environments.
AB - Recently, the demand for mobile manipulator-type human support robots has been increasing. Human support robots recognize the surrounding environment using a previously generated environmental map and perform navigation, such as localization and path planning. Conventional environment maps do not consider characteristics of objects and do not have any option to move an object to clear a path making it difficult for robots to move efficiently when an object is placed on their path. In this study, we propose topological navigation that uses a topological map based on sensing information and representing a path that robots can pass, and a metric map based on geometrical information of objects and representing the presence of objects. Consequently, if necessary, it is possible for robots to move a movable object to clear the passage and realize efficient movement in living environments.
KW - Environment recognition
KW - Movable object
KW - Path planning
KW - Topological map
KW - Topometric navigation
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U2 - 10.1007/978-3-030-95892-3_7
DO - 10.1007/978-3-030-95892-3_7
M3 - Conference contribution
AN - SCOPUS:85128750725
SN - 9783030958916
T3 - Lecture Notes in Networks and Systems
SP - 87
EP - 97
BT - Intelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
A2 - Ang Jr, Marcelo H.
A2 - Asama, Hajime
A2 - Lin, Wei
A2 - Foong, Shaohui
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
Y2 - 22 June 2021 through 25 June 2021
ER -